planning_context_circ.h

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#pragma once
 
#include <pilz_industrial_motion_planner/limits_container.h>
 
#include <rclcpp/rclcpp.hpp>
 
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_interface/planning_response.h>
 
#include <atomic>
#include <thread>
 
#include <pilz_industrial_motion_planner/planning_context_base.h>
#include <pilz_industrial_motion_planner/trajectory_generator_circ.h>
 
namespace pilz_industrial_motion_planner
{
MOVEIT_CLASS_FORWARD(PlanningContext);
 
class PlanningContextCIRC : public pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorCIRC>
{
public:
  PlanningContextCIRC(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
                      const pilz_industrial_motion_planner::LimitsContainer& limits)
    : pilz_industrial_motion_planner::PlanningContextBase<TrajectoryGeneratorCIRC>(name, group, model, limits)
  {
  }
};
 
}  // namespace pilz_industrial_motion_planner