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

Plugin API for loading a custom collision detection robot/world. More...

#include <collision_plugin.h>

Inheritance diagram for collision_detection::CollisionPlugin:
Inheritance graph

Public Member Functions

 CollisionPlugin ()
virtual ~CollisionPlugin ()
virtual bool initialize (const planning_scene::PlanningScenePtr &scene) const =0
 This should be used to load your collision plugin. More...

Detailed Description

Plugin API for loading a custom collision detection robot/world.

Typical Usage:

  namespace my_collision_checker

  class MyCollisionDetectorAllocator :
    public collision_detection::CollisionDetectorAllocatorTemplate<MyCollisionEnv, MyCollisionDetectorAllocator>
      const std::string& getName() const override {
        static const std::string NAME = "my_checker";
        return NAME;
      static const std::string NAME_;


  namespace collision_detection

  class MyCollisionDetectionLoader : public CollisionPlugin
    virtual bool initialize(const planning_scene::PlanningScenePtr& scene) const
      return true;

Definition at line 80 of file collision_plugin.h.

Constructor & Destructor Documentation

◆ CollisionPlugin()

collision_detection::CollisionPlugin::CollisionPlugin ( )

Definition at line 83 of file collision_plugin.h.

◆ ~CollisionPlugin()

virtual collision_detection::CollisionPlugin::~CollisionPlugin ( )

Definition at line 86 of file collision_plugin.h.

Member Function Documentation

◆ initialize()

virtual bool collision_detection::CollisionPlugin::initialize ( const planning_scene::PlanningScenePtr &  scene) const
pure virtual

This should be used to load your collision plugin.

Implemented in collision_detection::CollisionDetectorFCLPluginLoader, and collision_detection::CollisionDetectorBtPluginLoader.

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