ControllerHandle.h

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/* Author: Mathias Lüdtke */
 
#pragma once
 
#include <moveit/controller_manager/controller_manager.h>
#include <moveit/macros/class_forward.h>
 
namespace moveit_ros_control_interface
{
MOVEIT_CLASS_FORWARD(ControllerHandleAllocator);  // Defines ControllerHandleAllocatorPtr, ConstPtr, WeakPtr... etc
 
class ControllerHandleAllocator
{
public:
  virtual moveit_controller_manager::MoveItControllerHandlePtr
  alloc(const rclcpp::Node::SharedPtr& node, const std::string& name, const std::vector<std::string>& resources) = 0;
  virtual ~ControllerHandleAllocator()
  {
  }
};
 
}  // namespace moveit_ros_control_interface