chomp_interface.h

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/* Author: E. Gil Jones */
 
#pragma once
 
#include <chomp_motion_planner/chomp_parameters.h>
#include <chomp_motion_planner/chomp_planner.h>
 
#include <rclcpp/rclcpp.hpp>
 
namespace chomp_interface
{
MOVEIT_CLASS_FORWARD(CHOMPInterface);  // Defines CHOMPInterfacePtr, ConstPtr, WeakPtr... etc
 
class CHOMPInterface : public chomp::ChompPlanner
{
public:
  CHOMPInterface(const rclcpp::Node::SharedPtr& node);
 
  const chomp::ChompParameters& getParams() const
  {
    return params_;
  }
 
protected:
  void loadParams();
 
  std::shared_ptr<rclcpp::Node> node_;  
 
  chomp::ChompParameters params_;
};
}  // namespace chomp_interface