multi_state_validation_service_capability.hpp

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#pragma once
 
#include "state_validation_service_capability.h"
#include <moveit_msgs/srv/get_multi_state_validity.hpp>
 
namespace move_group
{
class MoveGroupMultiStateValidationService : public MoveGroupStateValidationService
{
public:
  void initialize() override;
 
private:
  bool computeService(const std::shared_ptr<rmw_request_id_t>& request_header,
                      const std::shared_ptr<moveit_msgs::srv::GetMultiStateValidity::Request>& req,
                      const std::shared_ptr<moveit_msgs::srv::GetMultiStateValidity::Response>& res);
 
  rclcpp::Service<moveit_msgs::srv::GetMultiStateValidity>::SharedPtr validity_service_;
};
}  // namespace move_group