collision_detector_fcl_plugin_loader.cpp

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/* Author: Bryce Willey */
 
#include <moveit/collision_detection_fcl/collision_detector_fcl_plugin_loader.h>
#include <pluginlib/class_list_macros.hpp>
 
namespace collision_detection
{
bool CollisionDetectorFCLPluginLoader::initialize(const planning_scene::PlanningScenePtr& scene) const
{
  scene->allocateCollisionDetector(CollisionDetectorAllocatorFCL::create());
  return true;
}
}  // namespace collision_detection
 
PLUGINLIB_EXPORT_CLASS(collision_detection::CollisionDetectorFCLPluginLoader, collision_detection::CollisionPlugin)