trajectory_monitor_middleware_handle.hpp

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/* Author: Abishalini Sivaraman */
 
#pragma once
 
#include <moveit/planning_scene_monitor/trajectory_monitor.h>
#include <rclcpp/rclcpp.hpp>
 
namespace planning_scene_monitor
{
class TrajectoryMonitorMiddlewareHandle : public TrajectoryMonitor::MiddlewareHandle
{
public:
  TrajectoryMonitorMiddlewareHandle(double sampling_frequency);
 
  void setRate(double sampling_frequency) override;
 
  void sleep() override;
 
private:
  std::unique_ptr<rclcpp::Rate> rate_;
};
}  // namespace planning_scene_monitor