How does MoveIt! CollisionPlugin interact with Moveit?
I'd like to write a plugin for collision detection for Moveit, and I've checked out their page here: https://moveit.ros.org/documentation/...
However, it's not clear to me how the plugin is called or what methods need to be supplied. It's not clear to me how a checkCollision call ends up getting to the plugin. The only member function appears to be initialize. Should I also be implementing versions of the classes in the template of the allocator (MyCollisionWorld, MyCollisionRobot)?
It's unclear to me how this all architecturally fits into Moveit and what interacts with it. I'm attempting to implement a plugin which allows making decisions about collisions not by the number of contacts, but as having each contact having a cost (such that links in the robot can collide and move into the space of some objects). It's not clear if the API for the plugin allows this.
