single_plan_execution.h

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/* Author: Sebastian Jahr
   Description: This planner logic plugin runs the global planner once and starts executing the global solution
    with the local planner.
 */
 
#include <moveit/hybrid_planning_manager/planner_logic_interface.h>
#include <moveit/hybrid_planning_manager/hybrid_planning_manager.h>
 
namespace moveit::hybrid_planning
{
class SinglePlanExecution : public PlannerLogicInterface
{
public:
  SinglePlanExecution() = default;
  ~SinglePlanExecution() override = default;
  bool initialize(const std::shared_ptr<HybridPlanningManager>& hybrid_planning_manager) override;
  ReactionResult react(const HybridPlanningEvent& event) override;
  ReactionResult react(const std::string& event) override;
 
private:
  bool local_planner_started_ = false;
};
}  // namespace moveit::hybrid_planning