DART  6.7.3
CollisionDetector.hpp
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32 
33 #ifndef DART_COLLISION_DETAIL_COLLISIONDETECTOR_HPP_
34 #define DART_COLLISION_DETAIL_COLLISIONDETECTOR_HPP_
35 
37 
39 
40 namespace dart {
41 namespace collision {
42 
43 //==============================================================================
44 template <typename... Args>
45 std::unique_ptr<CollisionGroup>
47 {
48  auto group = createCollisionGroup();
49 
50  group->addShapeFramesOf(args...);
51 
52  return group;
53 }
54 
55 //==============================================================================
56 template <typename... Args>
57 std::shared_ptr<CollisionGroup>
59 {
60  return std::shared_ptr<CollisionGroup>(
61  createCollisionGroup(args...).release());
62 }
63 
64 } // namespace collision
65 } // namespace dart
66 
67 #endif // DART_COLLISION_DETAIL_COLLISIONDETECTOR_HPP_
std::shared_ptr< CollisionGroup > createCollisionGroupAsSharedPtr()
Helper function that creates and returns CollisionGroup as a shared_ptr.
Definition: CollisionDetector.cpp:54
virtual std::unique_ptr< CollisionGroup > createCollisionGroup()=0
Create a collision group.
Definition: BulletCollisionDetector.cpp:63