planning_response.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_RESPONSE_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_RESPONSE_

#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit_msgs/MoveItErrorCodes.h>
#include <moveit_msgs/MotionPlanResponse.h>
#include <moveit_msgs/MotionPlanDetailedResponse.h>

namespace planning_interface
{

struct MotionPlanResponse
{
  MotionPlanResponse() :
    planning_time_(0.0)
  {
  }

  void getMessage(moveit_msgs::MotionPlanResponse &msg) const;

  robot_trajectory::RobotTrajectoryPtr trajectory_;
  double planning_time_;
  moveit_msgs::MoveItErrorCodes error_code_;
};

struct MotionPlanDetailedResponse
{
  void getMessage(moveit_msgs::MotionPlanDetailedResponse &msg) const;

  std::vector<robot_trajectory::RobotTrajectoryPtr> trajectory_;
  std::vector<std::string> description_;
  std::vector<double> processing_time_;
  moveit_msgs::MoveItErrorCodes error_code_;
};

} // planning_interface

#endif