constrained_planning_state_space_factory.h

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/* Author: Jeroen De Maeyer */
/* Mostly copied from Ioan Sucan's code */
 
#pragma once
 
#include <moveit/ompl_interface/parameterization/model_based_state_space_factory.h>
 
namespace ompl_interface
{
class ConstrainedPlanningStateSpaceFactory : public ModelBasedStateSpaceFactory
{
public:
  ConstrainedPlanningStateSpaceFactory();
 
  int canRepresentProblem(const std::string& group, const moveit_msgs::msg::MotionPlanRequest& req,
                          const moveit::core::RobotModelConstPtr& robot_model) const override;
 
protected:
  ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const override;
};
}  // namespace ompl_interface