44 #include <moveit_servo_lib_parameters.hpp>
55 const servo::Params& servo_params, std::atomic<double>& collision_velocity_scale);
65 void checkCollisions();
69 const servo::Params& servo_params_;
70 moveit::core::RobotStatePtr robot_state_;
71 const planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
74 std::thread monitor_thread_;
76 std::atomic<bool> stop_requested_;
79 std::atomic<double>& collision_velocity_scale_;
CollisionMonitor(const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor, const servo::Params &servo_params, std::atomic< double > &collision_velocity_scale)
Representation of a collision checking request.
Representation of a collision checking result.