planning_request_adapter.h

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/* Author: Ioan Sucan, Sebastian Jahr
   Description: Generic interface to adapting motion planning requests
*/
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/utils/moveit_error_code.h>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
 
namespace planning_interface
{
MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapterPtr, ConstPtr, WeakPtr... etc
 
class PlanningRequestAdapter
{
public:
  virtual void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace){};
 
  [[nodiscard]] virtual std::string getDescription() const = 0;
 
  [[nodiscard]] virtual moveit::core::MoveItErrorCode adapt(const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                            planning_interface::MotionPlanRequest& req) const = 0;
};
}  // namespace planning_interface