moveit2
The MoveIt Motion Planning Framework for ROS 2.
collision_plugin.h
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34 
35 #pragma once
36 
40 
41 namespace collision_detection
42 {
43 MOVEIT_CLASS_FORWARD(CollisionPlugin); // Defines CollisionPluginPtr, ConstPtr, WeakPtr... etc
44 
81 {
82 public:
84  {
85  }
86  virtual ~CollisionPlugin()
87  {
88  }
89 
93  virtual bool initialize(const planning_scene::PlanningScenePtr& scene) const = 0;
94 };
95 
96 } // namespace collision_detection
Plugin API for loading a custom collision detection robot/world.
virtual bool initialize(const planning_scene::PlanningScenePtr &scene) const =0
This should be used to load your collision plugin.
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix)