collision_plugin_loader.h
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34 
35 #ifndef MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
36 #define MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
37 
38 #include <ros/ros.h>
41 
42 namespace collision_detection
43 {
48 {
49 public:
52 
54  void setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene);
55 
63  bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene, bool exclusive);
64 
65 private:
67  CollisionPluginLoaderImplPtr loader_;
68 };
69 
70 } // namespace collision_detection
71 
72 #endif // MOVEIT_COLLISION_PLUGIN_LOADER_COLLISION_PLUGIN_LOADER_H
bool activate(const std::string &name, const planning_scene::PlanningScenePtr &scene, bool exclusive)
Load a collision detection robot/world into a planning scene instance.
void setupScene(ros::NodeHandle &nh, const planning_scene::PlanningScenePtr &scene)
This can be called on a new planning scene to setup the collision detector.
This is used to load the collision plugin.
MOVEIT_CLASS_FORWARD(CollisionPluginLoaderImpl)


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sat Apr 21 2018 02:55:20