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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2014 Fetch Robotics Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Fetch Robotics nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#pragma once
#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection/collision_robot.h>
#include <moveit/collision_detection/collision_world.h>
#include <moveit/planning_scene/planning_scene.h>
namespace collision_detection
{
MOVEIT_CLASS_FORWARD(CollisionPlugin);
/**
* @brief Plugin API for loading a custom collision detection robot/world.
*
* Typical Usage:
* <PRE>
* namespace my_collision_checker
* {
*
* class MyCollisionDetectorAllocator :
* public collision_detection::CollisionDetectorAllocatorTemplate<MyCollisionWorld, MyCollisionRobot,
MyCollisionDetectorAllocator>
* {
* public:
* static const std::string NAME_;
* };
*
* const std::string MyCollisionDetectorAllocator::NAME_("my_checker");
* }
*
* 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;
* }
* };
* </PRE>
*/
class CollisionPlugin
{
public:
CollisionPlugin()
{
}
virtual ~CollisionPlugin()
{
}
/**
* @brief This should be used to load your collision plugin.
*/
virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const = 0;
};
} // namespace collision_detection
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