Plugin API for loading a custom collision detection robot/world. More...

#include <collision_plugin.h>

Inheritance diagram for collision_detection::CollisionPlugin:

Public Member Functions
	CollisionPlugin ()

virtual bool	initialize (const planning_scene::PlanningScenePtr &scene, bool exclusive) const =0
	This should be used to load your collision plugin. More...

virtual	~CollisionPlugin ()

Detailed Description

Plugin API for loading a custom collision detection robot/world.

Typical Usage:

  namespace my_collision_checker
  {

  class MyCollisionDetectorAllocator :
    public collision_detection::CollisionDetectorAllocatorTemplate<MyCollisionEnv, MyCollisionDetectorAllocator>
  {
    public:
      const std::string& getName() const override {
        static const std::string NAME = "my_checker";
        return NAME;
      }
      static const std::string NAME_;
  };

  namespace collision_detection
  {

  class MyCollisionDetectionLoader : public CollisionPlugin
  {
  public:
    virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const
    {
      scene->setActiveCollisionDetector(my_collision_checker::MyCollisionDetectorAllocator::create(), exclusive);
      return true;
    }
  };

Definition at line 112 of file collision_plugin.h.

Constructor & Destructor Documentation

◆ CollisionPlugin()

collision_detection::CollisionPlugin::CollisionPlugin ( )

inline

Definition at line 115 of file collision_plugin.h.

◆ ~CollisionPlugin()

virtual collision_detection::CollisionPlugin::~CollisionPlugin ( )

inlinevirtual

Definition at line 118 of file collision_plugin.h.

Member Function Documentation

◆ initialize()

virtual bool collision_detection::CollisionPlugin::initialize	(	const planning_scene::PlanningScenePtr &	scene,
		bool	exclusive
	)		const

pure virtual

This should be used to load your collision plugin.

Implemented in collision_detection::CollisionDetectorBtPluginLoader, and collision_detection::CollisionDetectorFCLPluginLoader.

The documentation for this class was generated from the following file: