collision_detection::CollisionDetectorAllocator Class Reference

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

#include <collision_detector_allocator.hpp>

Inheritance diagram for collision_detection::CollisionDetectorAllocator:

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.hpp.

Constructor & Destructor Documentation

~CollisionDetectorAllocator()

virtual collision_detection::CollisionDetectorAllocator::~CollisionDetectorAllocator ( )

inlinevirtual

Definition at line 50 of file collision_detector_allocator.hpp.

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 >.

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 >.

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< CollisionEnvBullet, CollisionDetectorAllocatorBullet >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvFCL, CollisionDetectorAllocatorFCL >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvHybrid, CollisionDetectorAllocatorHybrid >.

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< CollisionEnvBullet, CollisionDetectorAllocatorBullet >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvDistanceField, CollisionDetectorAllocatorDistanceField >, collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvFCL, CollisionDetectorAllocatorFCL >, and collision_detection::CollisionDetectorAllocatorTemplate< CollisionEnvHybrid, CollisionDetectorAllocatorHybrid >.

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

• moveit_core/collision_detection/include/moveit/collision_detection/collision_detector_allocator.hpp