bullet_cast_bvh_manager.h

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/* Author: Levi Armstrong, Jens Petit */
 
#pragma once
 
#include <moveit/collision_detection_bullet/bullet_integration/bullet_utils.h>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h>
#include <moveit/macros/class_forward.h>
 
namespace collision_detection_bullet
{
MOVEIT_CLASS_FORWARD(BulletCastBVHManager);
 
class BulletCastBVHManager : public BulletBVHManager
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  BulletCastBVHManager() = default;
 
  ~BulletCastBVHManager() override = default;
 
  BulletCastBVHManagerPtr clone() const;
 
  void setCastCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose1,
                                        const Eigen::Isometry3d& pose2);
 
  void contactTest(collision_detection::CollisionResult& collisions, const collision_detection::CollisionRequest& req,
                   const collision_detection::AllowedCollisionMatrix* acm, bool self) override;
 
  void addCollisionObject(const CollisionObjectWrapperPtr& cow) override;
};
}  // namespace collision_detection_bullet