moveit2
The MoveIt Motion Planning Framework for ROS 2.
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chomp_interface.h
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34
35/* Author: E. Gil Jones */
36
37#pragma once
38
41
42#include <rclcpp/rclcpp.hpp>
43
45{
46MOVEIT_CLASS_FORWARD(CHOMPInterface); // Defines CHOMPInterfacePtr, ConstPtr, WeakPtr... etc
47
49{
50public:
51 CHOMPInterface(const rclcpp::Node::SharedPtr& node);
52
54 {
55 return params_;
56 }
57
58protected:
60 void loadParams();
61
62 std::shared_ptr<rclcpp::Node> node_;
63
65};
66} // namespace chomp_interface
#define MOVEIT_CLASS_FORWARD(C)
chomp::ChompParameters params_
The ROS node.
const chomp::ChompParameters & getParams() const
std::shared_ptr< rclcpp::Node > node_
void loadParams()
Configure everything using the param server.