Motion Planning Kernel: planners/PL_HasCollisionDetector.cpp Source File

00001 #include <assert.h>
00002 #include "Planners\PL_HasCollisionDetector.h"
00003 
00004 
00005 PL_HasCollisionDetector::PL_HasCollisionDetector ()
00006   :     PlannerBase(),
00007         collisionDetector( NULL )
00008 {
00009 
00010 }
00011 
00012 PL_HasCollisionDetector::~PL_HasCollisionDetector()
00013 {
00014 
00015 }
00016 
00017 void PL_HasCollisionDetector::SetCollisionDetector (CollisionDetectorBase* collisionDetector) const
00018 {
00019         assert( false ) ;
00020 }
00021 
00022 void PL_HasCollisionDetector::SetCollisionDetector (CD_BasicStyle* collisionDetector)
00023 {
00024         if( collisionDetector == NULL )
00025         {
00026                 this->collisionDetector = NULL  ;
00027         }
00028         else
00029         {
00030                 //CD_BasicStyle* cloned = dynamic_cast< CD_BasicStyle* >( collisionDetector->Clone() ) ;
00031                 CD_BasicStyle* cloned = collisionDetector ;     //Don't actually clone anything
00032                 delete( this->collisionDetector ) ;
00033                 this->collisionDetector = cloned ;
00034         }
00035 
00036 }