constraint_sampler_manager_loader.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <moveit/macros/class_forward.h>
 
namespace constraint_sampler_manager_loader
{
MOVEIT_CLASS_FORWARD(
    ConstraintSamplerManagerLoader);  // Defines ConstraintSamplerManagerLoaderPtr, ConstPtr, WeakPtr... etc
 
class ConstraintSamplerManagerLoader
{
public:
  ConstraintSamplerManagerLoader(
      const rclcpp::Node::SharedPtr& node,
      const constraint_samplers::ConstraintSamplerManagerPtr& csm = constraint_samplers::ConstraintSamplerManagerPtr());
 
  const constraint_samplers::ConstraintSamplerManagerPtr& getConstraintSamplerManager() const
  {
    return constraint_sampler_manager_;
  }
 
private:
  constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
 
  MOVEIT_CLASS_FORWARD(Helper);
  HelperPtr impl_;
};
}  // namespace constraint_sampler_manager_loader