boost::shared_ptr<CollisionChecker> CollisionChecker::GetOrCreate(OR::EnvironmentBase& env) {
UserDataPtr ud = GetUserData(env, "trajopt_cc");
if (!ud) {
LOG_INFO("creating bullet collision checker for environment");
//throw std::runtime_error("not implemented");
ud = CreateCollisionChecker(env.shared_from_this());
SetUserData(env, "trajopt_cc", ud);
}
else {
LOG_DEBUG("already have a collision checker for this environment");
}
return boost::dynamic_pointer_cast<CollisionChecker>(ud);
}
BeliefCollisionCheckerPtr BeliefCollisionChecker::GetOrCreate(OR::EnvironmentBase& env) {
UserDataPtr ud = GetUserData(env, "trajopt_cc");
if (!ud) {
LOG_INFO("creating bullet belief collision checker for environment");
BeliefCollisionCheckerPtr checker(new BeliefCollisionChecker(env.shared_from_this()));
ud = checker;
SetUserData(env, "trajopt_cc", ud);
}
else {
LOG_DEBUG("already have a belief collision checker for this environment");
}
return boost::dynamic_pointer_cast<BeliefCollisionChecker>(ud);
}