moveit2
The MoveIt Motion Planning Framework for ROS 2.
moveit_core
collision_detection_bullet
src
collision_detector_bullet_plugin_loader.cpp
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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* Copyright (c) 2019, Jens Petit
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/* Author: Jens Petit */
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#include <
moveit/collision_detection_bullet/collision_detector_bullet_plugin_loader.h
>
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#include <pluginlib/class_list_macros.hpp>
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namespace
collision_detection
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{
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bool
CollisionDetectorBtPluginLoader::initialize
(
const
planning_scene::PlanningScenePtr&
scene
)
const
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{
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scene
->allocateCollisionDetector(
CollisionDetectorAllocatorBullet::create
());
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return
true
;
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}
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}
// namespace collision_detection
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PLUGINLIB_EXPORT_CLASS
(
collision_detection::CollisionDetectorBtPluginLoader
,
collision_detection::CollisionPlugin
)
PLUGINLIB_EXPORT_CLASS
PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< kdl_kinematics_plugin::KDLKinematicsPlugin >, kinematics::KinematicsBase)
collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvBullet, CollisionDetectorAllocatorBullet >::create
static CollisionDetectorAllocatorPtr create()
Definition:
collision_detector_allocator.h:96
collision_detection::CollisionDetectorBtPluginLoader
Definition:
collision_detector_bullet_plugin_loader.h:45
collision_detection::CollisionDetectorBtPluginLoader::initialize
bool initialize(const planning_scene::PlanningScenePtr &scene) const override
This should be used to load your collision plugin.
Definition:
collision_detector_bullet_plugin_loader.cpp:42
collision_detection::CollisionPlugin
Plugin API for loading a custom collision detection robot/world.
Definition:
collision_plugin.h:81
collision_detector_bullet_plugin_loader.h
collision_detection
Definition:
collision_detector_allocator_allvalid.h:45
pick.scene
scene
Definition:
pick.py:52
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