model_based_state_space_factory.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/ompl_interface/parameterization/model_based_state_space.h>
#include <moveit_msgs/msg/motion_plan_request.hpp>
 
namespace ompl_interface
{
MOVEIT_CLASS_FORWARD(ModelBasedStateSpaceFactory);  // Defines ModelBasedStateSpaceFactoryPtr, ConstPtr, WeakPtr... etc
 
class ModelBasedStateSpaceFactory
{
public:
  ModelBasedStateSpaceFactory()
  {
  }
 
  virtual ~ModelBasedStateSpaceFactory()
  {
  }
 
  ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const;
 
  const std::string& getType() const
  {
    return type_;
  }
 
  virtual int canRepresentProblem(const std::string& group, const moveit_msgs::msg::MotionPlanRequest& req,
                                  const moveit::core::RobotModelConstPtr& robot_model) const = 0;
 
protected:
  virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const = 0;
  std::string type_;
};
}  // namespace ompl_interface