goalconstraintsmsgconvertible.hpp

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#pragma once
 
#include <string>
 
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit/robot_model/robot_model.hpp>
 
namespace pilz_industrial_motion_planner_testutils
{
class GoalConstraintMsgConvertible
{
public:
  GoalConstraintMsgConvertible() = default;
  GoalConstraintMsgConvertible(const GoalConstraintMsgConvertible&) = default;
  GoalConstraintMsgConvertible(GoalConstraintMsgConvertible&&) = default;
  GoalConstraintMsgConvertible& operator=(const GoalConstraintMsgConvertible&) = default;
  GoalConstraintMsgConvertible& operator=(GoalConstraintMsgConvertible&&) = default;
  virtual ~GoalConstraintMsgConvertible() = default;
  virtual moveit_msgs::msg::Constraints toGoalConstraints() const = 0;
};
}  // namespace pilz_industrial_motion_planner_testutils