chomp_planning_context.h

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/* Author: Chittaranjan Srinivas Swaminathan */
 
#pragma once
 
#include <chomp_interface/chomp_interface.h>
#include <moveit/planning_interface/planning_interface.h>
 
#include <rclcpp/rclcpp.hpp>
 
namespace chomp_interface
{
MOVEIT_CLASS_FORWARD(CHOMPPlanningContext);  // Defines CHOMPPlanningContextPtr, ConstPtr, WeakPtr... etc
 
class CHOMPPlanningContext : public planning_interface::PlanningContext
{
public:
  bool solve(planning_interface::MotionPlanResponse& res) override;
  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;
 
  void clear() override;
  bool terminate() override;
 
  CHOMPPlanningContext(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
                       const rclcpp::Node::SharedPtr& node);
 
  ~CHOMPPlanningContext() override = default;
 
  void initialize();
 
private:
  CHOMPInterfacePtr chomp_interface_;
  moveit::core::RobotModelConstPtr robot_model_;
};
 
}  // namespace chomp_interface