chomp_planner.h

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/* Author: E. Gil Jones */
 
#pragma once
 
#include <chomp_motion_planner/chomp_parameters.h>
#include <moveit/planning_interface/planning_request.h>
#include <moveit/planning_interface/planning_response.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/robot_state.h>
 
namespace chomp
{
class ChompPlanner
{
public:
  ChompPlanner() = default;
  virtual ~ChompPlanner() = default;
 
  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const planning_interface::MotionPlanRequest& req, const ChompParameters& params,
             planning_interface::MotionPlanDetailedResponse& res) const;
};
}  // namespace chomp