constraint_sampler_allocator.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/constraint_samplers/constraint_sampler.h>
#include <moveit/macros/class_forward.h>
#include <rclcpp/rclcpp.hpp>
 
namespace constraint_samplers
{
MOVEIT_CLASS_FORWARD(ConstraintSamplerAllocator);  // Defines ConstraintSamplerAllocatorPtr, ConstPtr, WeakPtr... etc
 
class ConstraintSamplerAllocator
{
public:
  ConstraintSamplerAllocator()
  {
  }
 
  virtual ~ConstraintSamplerAllocator()
  {
  }
 
  virtual ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                                     const moveit_msgs::msg::Constraints& constr) = 0;
 
  virtual bool canService(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                          const moveit_msgs::msg::Constraints& constr) const = 0;
};
}  // namespace constraint_samplers