model_based_state_space_factory.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_
#define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_

#include <moveit/ompl_interface/parameterization/model_based_state_space.h>
#include <moveit_msgs/MotionPlanRequest.h>

namespace ompl_interface
{

class ModelBasedStateSpaceFactory;
typedef boost::shared_ptr<ModelBasedStateSpaceFactory> ModelBasedStateSpaceFactoryPtr;

class ModelBasedStateSpaceFactory
{
public:

  ModelBasedStateSpaceFactory()
  {
  }

  virtual ~ModelBasedStateSpaceFactory()
  {
  }

  ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const;

  const std::string& getType() const
  {
    return type_;
  }

  virtual int canRepresentProblem(const std::string &group,
                                  const moveit_msgs::MotionPlanRequest &req,
                  const robot_model::RobotModelConstPtr &kmodel) const = 0;

protected:

  virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const = 0;
  std::string type_;
};

}

#endif