stomp_moveit_planning_context.hpp

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#pragma once
 
#include <moveit/planning_interface/planning_interface.h>
 
#include <stomp_moveit_parameters.hpp>
 
// Forward declaration
namespace stomp
{
class Stomp;
}
 
namespace stomp_moveit
{
class StompPlanningContext : public planning_interface::PlanningContext
{
public:
  StompPlanningContext(const std::string& name, const std::string& group_name, const stomp_moveit::Params& params);
 
  void solve(planning_interface::MotionPlanResponse& res) override;
 
  void solve(planning_interface::MotionPlanDetailedResponse& res) override;
 
  bool terminate() override;
 
  void clear() override;
 
  void setPathPublisher(const std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::MarkerArray>>& path_publisher);
  std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::MarkerArray>> getPathPublisher();
 
private:
  const stomp_moveit::Params params_;
  std::shared_ptr<stomp::Stomp> stomp_;
  std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::MarkerArray>> path_publisher_;
};
}  // namespace stomp_moveit