planning_context_loader_polyline.hpp

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#pragma once
 
#include <pilz_industrial_motion_planner/planning_context_loader.hpp>
 
#include <moveit/planning_interface/planning_interface.hpp>
 
namespace pilz_industrial_motion_planner
{
class PlanningContextLoaderPolyline : public PlanningContextLoader
{
public:
  PlanningContextLoaderPolyline();
  ~PlanningContextLoaderPolyline() override;

  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
                   const std::string& group) const override;
};
 
typedef std::shared_ptr<PlanningContextLoaderPolyline> PlanningContextLoaderPolylinePtr;
typedef std::shared_ptr<const PlanningContextLoaderPolyline> PlanningContextLoaderPolylineConstPtr;
 
}  // namespace pilz_industrial_motion_planner