22 #ifndef OPENRAVE_COLLISIONCHECKER_H
23 #define OPENRAVE_COLLISIONCHECKER_H
86 virtual void Reset(
int coloptions = 0);
87 virtual std::string __str__()
const;
105 return PT_CollisionChecker;
109 virtual bool SetCollisionOptions(
int collisionoptions) = 0;
112 virtual int GetCollisionOptions()
const = 0;
114 virtual void SetTolerance(
dReal tolerance) = 0;
117 virtual bool InitEnvironment() = 0;
120 virtual void DestroyEnvironment() = 0;
123 virtual bool InitKinBody(
KinBodyPtr pbody) = 0;
126 virtual void RemoveKinBody(
KinBodyPtr pbody) = 0;
188 pbody->SetUserData(GetXMLId(), data);
199 virtual const char* GetHash()
const {
205 friend class Environment;
207 friend class ::Environment;