moveit2
The MoveIt Motion Planning Framework for ROS 2.
Loading...
Searching...
No Matches
collision_detector_bullet_plugin_loader.cpp
Go to the documentation of this file.
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2019, Jens Petit
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the copyright holder nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34
35/* Author: Jens Petit */
36
38#include <pluginlib/class_list_macros.hpp>
39
40namespace collision_detection
41{
42bool CollisionDetectorBtPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene) const
43{
44 scene->allocateCollisionDetector(CollisionDetectorAllocatorBullet::create());
45 return true;
46}
47} // namespace collision_detection
48
PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< kdl_kinematics_plugin::KDLKinematicsPlugin >, kinematics::KinematicsBase)
bool initialize(const planning_scene::PlanningScenePtr &scene) const override
This should be used to load your collision plugin.
Plugin API for loading a custom collision detection robot/world.