planning_response.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit_msgs/msg/motion_plan_response.hpp>
#include <moveit_msgs/msg/motion_plan_detailed_response.hpp>
 
namespace planning_interface
{
struct MotionPlanResponse
{
  MotionPlanResponse() : planning_time_(0.0)
  {
  }
 
  void getMessage(moveit_msgs::msg::MotionPlanResponse& msg) const;
 
  robot_trajectory::RobotTrajectoryPtr trajectory_;
  double planning_time_;
  moveit_msgs::msg::MoveItErrorCodes error_code_;
};
 
struct MotionPlanDetailedResponse
{
  void getMessage(moveit_msgs::msg::MotionPlanDetailedResponse& msg) const;
 
  std::vector<robot_trajectory::RobotTrajectoryPtr> trajectory_;
  std::vector<std::string> description_;
  std::vector<double> processing_time_;
  moveit_msgs::msg::MoveItErrorCodes error_code_;
};
 
}  // namespace planning_interface