moveit2
The MoveIt Motion Planning Framework for ROS 2.
moveit_core
collision_detection
include
moveit
collision_detection
collision_plugin.h
Go to the documentation of this file.
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* Software License Agreement (BSD License)
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* Copyright (c) 2014 Fetch Robotics Inc.
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#pragma once
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#include <
moveit/macros/class_forward.h
>
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#include <
moveit/collision_detection/collision_env.h
>
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#include <
moveit/planning_scene/planning_scene.h
>
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namespace
collision_detection
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{
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MOVEIT_CLASS_FORWARD
(
CollisionPlugin
);
// Defines CollisionPluginPtr, ConstPtr, WeakPtr... etc
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class
CollisionPlugin
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{
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public
:
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CollisionPlugin
()
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{
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}
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virtual
~CollisionPlugin
()
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{
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}
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virtual
bool
initialize
(
const
planning_scene::PlanningScenePtr& scene)
const
= 0;
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};
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}
// namespace collision_detection
class_forward.h
collision_detection::CollisionPlugin
Plugin API for loading a custom collision detection robot/world.
Definition:
collision_plugin.h:81
collision_detection::CollisionPlugin::~CollisionPlugin
virtual ~CollisionPlugin()
Definition:
collision_plugin.h:86
collision_detection::CollisionPlugin::initialize
virtual bool initialize(const planning_scene::PlanningScenePtr &scene) const =0
This should be used to load your collision plugin.
collision_detection::CollisionPlugin::CollisionPlugin
CollisionPlugin()
Definition:
collision_plugin.h:83
collision_env.h
planning_scene.h
collision_detection
Definition:
collision_detector_allocator_allvalid.h:45
collision_detection::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix)
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