collision_detector_allocator.h
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34 
35 /* Author: Acorn Pooley, Ioan Sucan */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_
38 #define MOVEIT_COLLISION_DETECTION_COLLISION_DETECTOR_
39 
43 
44 namespace collision_detection
45 {
46 MOVEIT_CLASS_FORWARD(CollisionDetectorAllocator);
47 
50 {
51 public:
53  virtual const std::string& getName() const = 0;
54 
56  virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const = 0;
57 
61  virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const = 0;
62 
64  virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const = 0;
65 
67  virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const = 0;
68 };
69 
71 template <class CollisionWorldType, class CollisionRobotType, class CollisionDetectorAllocatorType>
73 {
74 public:
75  virtual const std::string& getName() const
76  {
77  return CollisionDetectorAllocatorType::NAME_;
78  }
79 
80  virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const
81  {
82  return CollisionWorldPtr(new CollisionWorldType(world));
83  }
84 
85  virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const
86  {
87  return CollisionWorldPtr(new CollisionWorldType(dynamic_cast<const CollisionWorldType&>(*orig), world));
88  }
89 
90  virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const
91  {
92  return CollisionRobotPtr(new CollisionRobotType(robot_model));
93  }
94 
95  virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const
96  {
97  return CollisionRobotPtr(new CollisionRobotType(dynamic_cast<const CollisionRobotType&>(*orig)));
98  }
99 
101  static CollisionDetectorAllocatorPtr create()
102  {
103  return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
104  }
105 };
106 }
107 
108 #endif
Core components of MoveIt!
virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr &orig, const WorldPtr &world) const
An allocator for a compatible CollisionWorld/CollisionRobot pair.
virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr &orig) const
virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr &robot_model) const =0
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix)
Generic interface to collision detection.
virtual CollisionWorldPtr allocateWorld(const WorldPtr &world) const
virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr &robot_model) const
Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pa...
virtual const std::string & getName() const =0
virtual CollisionWorldPtr allocateWorld(const WorldPtr &world) const =0


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Jul 12 2018 02:53:17