moveit2
The MoveIt Motion Planning Framework for ROS 2.
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bullet_discrete_bvh_manager.h
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31
32/* Author: Levi Armstrong, Jens Petit */
33
34#pragma once
35
39
41{
43
46{
47public:
49
52
53 ~BulletDiscreteBVHManager() override = default;
54
58 BulletDiscreteBVHManagerPtr clone() const;
59
65 const collision_detection::AllowedCollisionMatrix* acm, bool self) override;
66
69 void addCollisionObject(const CollisionObjectWrapperPtr& cow) override;
70};
71} // namespace collision_detection_bullet
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
#define MOVEIT_CLASS_FORWARD(C)
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
A bounding volume hierarchy (BVH) implementation of a tesseract contact manager.
A bounding volume hierarchy (BVH) implementation of a discrete bullet manager.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW BulletDiscreteBVHManager()=default
Constructor.
void contactTest(collision_detection::CollisionResult &collisions, const collision_detection::CollisionRequest &req, const collision_detection::AllowedCollisionMatrix *acm, bool self) override
Perform a contact test for all objects in the manager.
void addCollisionObject(const CollisionObjectWrapperPtr &cow) override
Add a bullet collision object to the manager.
BulletDiscreteBVHManagerPtr clone() const
Clone the manager.
Representation of a collision checking request.
Representation of a collision checking result.