state_validation_service_capability.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/srv/get_state_validity.hpp>
 
namespace move_group
{
class MoveGroupStateValidationService : public MoveGroupCapability
{
public:
  MoveGroupStateValidationService();
 
  void initialize() override;
 
private:
  bool computeService(const std::shared_ptr<rmw_request_id_t>& request_header,
                      const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Request>& req,
                      const std::shared_ptr<moveit_msgs::srv::GetStateValidity::Response>& res);
 
  rclcpp::Service<moveit_msgs::srv::GetStateValidity>::SharedPtr validity_service_;
};
}  // namespace move_group