trajectory_blender.h

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#pragma once
 
#include <pilz_industrial_motion_planner/limits_container.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/planning_interface/planning_interface.h>
 
#include <pilz_industrial_motion_planner/trajectory_blend_request.h>
#include <pilz_industrial_motion_planner/trajectory_blend_response.h>
 
namespace pilz_industrial_motion_planner
{
class TrajectoryBlender
{
public:
  TrajectoryBlender(const pilz_industrial_motion_planner::LimitsContainer& planner_limits) : limits_(planner_limits)
  {
  }
 
  virtual ~TrajectoryBlender()
  {
  }
 
  virtual bool blend(const planning_scene::PlanningSceneConstPtr& planning_scene,
                     const pilz_industrial_motion_planner::TrajectoryBlendRequest& req,
                     pilz_industrial_motion_planner::TrajectoryBlendResponse& res) = 0;
 
protected:
  const pilz_industrial_motion_planner::LimitsContainer limits_;
};
 
typedef std::unique_ptr<TrajectoryBlender> TrajectoryBlenderUniquePtr;
 
}  // namespace pilz_industrial_motion_planner