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  {
54  }
55 
57  virtual const std::string& getName() const = 0;
58 
60  virtual CollisionWorldPtr allocateWorld(const WorldPtr& world) const = 0;
61 
65  virtual CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const = 0;
66 
68  virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const = 0;
69 
71  virtual CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const = 0;
72 };
73 
75 template <class CollisionWorldType, class CollisionRobotType, class CollisionDetectorAllocatorType>
77 {
78 public:
79  const std::string& getName() const override
80  {
81  return CollisionDetectorAllocatorType::NAME_;
82  }
83 
84  CollisionWorldPtr allocateWorld(const WorldPtr& world) const override
85  {
86  return CollisionWorldPtr(new CollisionWorldType(world));
87  }
88 
89  CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr& orig, const WorldPtr& world) const override
90  {
91  return CollisionWorldPtr(new CollisionWorldType(dynamic_cast<const CollisionWorldType&>(*orig), world));
92  }
93 
94  CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr& robot_model) const override
95  {
96  return CollisionRobotPtr(new CollisionRobotType(robot_model));
97  }
98 
99  CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr& orig) const override
100  {
101  return CollisionRobotPtr(new CollisionRobotType(dynamic_cast<const CollisionRobotType&>(*orig)));
102  }
103 
105  static CollisionDetectorAllocatorPtr create()
106  {
107  return CollisionDetectorAllocatorPtr(new CollisionDetectorAllocatorType());
108  }
109 };
110 }
111 
112 #endif
CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr &robot_model) const override
CollisionRobotPtr allocateRobot(const CollisionRobotConstPtr &orig) const override
Core components of MoveIt!
An allocator for a compatible CollisionWorld/CollisionRobot pair.
CollisionWorldPtr allocateWorld(const CollisionWorldConstPtr &orig, const WorldPtr &world) const override
virtual CollisionRobotPtr allocateRobot(const robot_model::RobotModelConstPtr &robot_model) const =0
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix)
Generic interface to collision detection.
CollisionWorldPtr allocateWorld(const WorldPtr &world) const override
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 Sun Jul 14 2019 03:50:58