00001 #include <moveit/collision_distance_field/collision_detector_hybrid_plugin_loader.h> 00002 #include <pluginlib/class_list_macros.h> 00003 00004 namespace collision_detection 00005 { 00006 bool CollisionDetectorHybridPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene, 00007 bool exclusive) const 00008 { 00009 scene->setActiveCollisionDetector(CollisionDetectorAllocatorHybrid::create(), exclusive); 00010 return true; 00011 } 00012 } 00013 00014 PLUGINLIB_EXPORT_CLASS(collision_detection::CollisionDetectorHybridPluginLoader, collision_detection::CollisionPlugin)