collision_plugin_cache.h

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#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection/collision_plugin.h>
 
namespace collision_detection
{
class CollisionPluginCache
{
public:
  CollisionPluginCache();
  ~CollisionPluginCache();
 
  bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene);
 
private:
  MOVEIT_CLASS_FORWARD(CollisionPluginCacheImpl);
  CollisionPluginCacheImplPtr cache_;
};
 
}  // namespace collision_detection