plan_responses_container.hpp

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/* Author: Sebastian Jahr
   Desc: A thread safe container to store motion plan responses */
 
#pragma once
 
#include <moveit/planning_interface/planning_response.h>
#include <moveit/planning_interface/planning_request.h>
 
namespace moveit
{
namespace planning_pipeline_interfaces
{
MOVEIT_CLASS_FORWARD(PlanResponsesContainer);  // Defines PlanningComponentPtr, ConstPtr, WeakPtr... etc
class PlanResponsesContainer
{
public:
  PlanResponsesContainer(const size_t expected_size = 0);
 
  void pushBack(const ::planning_interface::MotionPlanResponse& plan_solution);
 
  const std::vector<::planning_interface::MotionPlanResponse>& getSolutions() const;
 
private:
  std::vector<::planning_interface::MotionPlanResponse> solutions_;
  std::mutex solutions_mutex_;
};
}  // namespace planning_pipeline_interfaces
}  // namespace moveit