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Fcl as a Plugin #1370
I mentioned at the maintainer's meeting that I had once made the FCL collision detector a plugin, as opposed to its currently hardcoded state. This is the simple change to make that happen, and gets us one step closer to being able to easily use different collision detectors, like Bullet, in MoveIt.
To actually make this affect anything, you have to set the
Future changes should eventually make the collision detector a parameter in all of the generated