CollisionCheckerPlugin.cpp

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// Plugin.cpp
//
//  Created on: Jan 27, 2014
//      Author: mklingen
#include "OctomapCollisionChecker.h"
#include <openrave/plugin.h>

using namespace OpenRAVE;
using namespace or_octomap;


OpenRAVE::InterfaceBasePtr CreateInterfaceValidated(OpenRAVE::InterfaceType type, const std::string& interfacename, std::istream& sinput, OpenRAVE::EnvironmentBasePtr penv)
{
  if (type == OpenRAVE::PT_CollisionChecker && interfacename == "or_octomap_checker")
  {
    return OpenRAVE::InterfaceBasePtr(new OctomapCollisionChecker(penv));
  }

  return InterfaceBasePtr();
}

void GetPluginAttributesValidated(OpenRAVE::PLUGININFO& info)
{
  info.interfacenames[OpenRAVE::PT_CollisionChecker].push_back("or_octomap_checker");
}

OPENRAVE_PLUGIN_API void DestroyPlugin()
{
  return;
}