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Made FCL a Plugin, so we can actually switch between checkers now.
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19 changes: 19 additions & 0 deletions
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...tection_fcl/include/moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h
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/* | ||
* collision_detector_fcl_plugin_loader.h | ||
*/ | ||
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#ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_ | ||
#define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_ | ||
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#include <moveit/collision_detection/collision_plugin.h> | ||
#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h> | ||
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namespace collision_detection | ||
{ | ||
class CollisionDetectorFCLPluginLoader : public CollisionPlugin | ||
{ | ||
public: | ||
virtual bool initialize(const planning_scene::PlanningScenePtr& scene, bool exclusive) const; | ||
}; | ||
} | ||
#endif // MOVEIT_COLLISION_DETECTION_FCL_COLLISION_DETECTOR_FCL_PLUGIN_LOADER_H_ |
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moveit_core/collision_detection_fcl/src/collision_detector_fcl_plugin_loader.cpp
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#include <moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h> | ||
#include <pluginlib/class_list_macros.h> | ||
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namespace collision_detection | ||
{ | ||
bool CollisionDetectorFCLPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene, | ||
bool exclusive) const | ||
{ | ||
scene->setActiveCollisionDetector(CollisionDetectorAllocatorFCL::create(), exclusive); | ||
return true; | ||
} | ||
} | ||
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PLUGINLIB_EXPORT_CLASS(collision_detection::CollisionDetectorFCLPluginLoader, collision_detection::CollisionPlugin) |
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<library path="lib/libcollision_detector_fcl_plugin"> | ||
<class name="FCL" type="collision_detection::CollisionDetectorFCLPluginLoader" | ||
base_class_type="collision_detection::CollisionPlugin"> | ||
<description> | ||
FCL Collision Detector, default for MoveIt. | ||
</description> | ||
</class> | ||
</library> |
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