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The MoveIt Motion Planning Framework for ROS 2.
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collision_detection::CollisionDetectorAllocator Class Referenceabstract

An allocator for a compatible CollisionWorld/CollisionRobot pair. More...

#include <collision_detector_allocator.h>

Inheritance diagram for collision_detection::CollisionDetectorAllocator:
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Public Member Functions

virtual ~CollisionDetectorAllocator ()
 
virtual const std::string & getName () const =0
 
virtual CollisionEnvPtr allocateEnv (const WorldPtr &world, const moveit::core::RobotModelConstPtr &robot_model) const =0
 
virtual CollisionEnvPtr allocateEnv (const CollisionEnvConstPtr &orig, const WorldPtr &world) const =0
 
virtual CollisionEnvPtr allocateEnv (const moveit::core::RobotModelConstPtr &robot_model) const =0
 

Detailed Description

An allocator for a compatible CollisionWorld/CollisionRobot pair.

Definition at line 47 of file collision_detector_allocator.h.

Constructor & Destructor Documentation

◆ ~CollisionDetectorAllocator()

virtual collision_detection::CollisionDetectorAllocator::~CollisionDetectorAllocator ( )
inlinevirtual

Definition at line 50 of file collision_detector_allocator.h.

Member Function Documentation

◆ allocateEnv() [1/3]

virtual CollisionEnvPtr collision_detection::CollisionDetectorAllocator::allocateEnv ( const CollisionEnvConstPtr &  orig,
const WorldPtr &  world 
) const
pure virtual

create a new CollisionWorld by copying an existing CollisionWorld of the same type.s The world must be either the same world as used by \orig or a copy of that world which has not yet been modified.

Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvAllValid, CollisionDetectorAllocatorAllValid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvFCL, CollisionDetectorAllocatorFCL >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvBullet, CollisionDetectorAllocatorBullet >.

◆ allocateEnv() [2/3]

virtual CollisionEnvPtr collision_detection::CollisionDetectorAllocator::allocateEnv ( const moveit::core::RobotModelConstPtr &  robot_model) const
pure virtual

create a new CollisionEnv given a robot_model with a new empty world

Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvAllValid, CollisionDetectorAllocatorAllValid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvFCL, CollisionDetectorAllocatorFCL >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvBullet, CollisionDetectorAllocatorBullet >.

◆ allocateEnv() [3/3]

virtual CollisionEnvPtr collision_detection::CollisionDetectorAllocator::allocateEnv ( const WorldPtr &  world,
const moveit::core::RobotModelConstPtr &  robot_model 
) const
pure virtual

create a new CollisionWorld for checking collisions with the supplied world.

Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvAllValid, CollisionDetectorAllocatorAllValid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvFCL, CollisionDetectorAllocatorFCL >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvBullet, CollisionDetectorAllocatorBullet >.

◆ getName()

virtual const std::string& collision_detection::CollisionDetectorAllocator::getName ( ) const
pure virtual

A unique name identifying the CollisionWorld/CollisionRobot pairing.

Implemented in collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvType, CollisionDetectorAllocatorType >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvAllValid, CollisionDetectorAllocatorAllValid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvFCL, CollisionDetectorAllocatorFCL >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvHybrid, CollisionDetectorAllocatorHybrid >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvBullet, CollisionDetectorAllocatorBullet >.

The documentation for this class was generated from the following file:
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