planning_monitor.h

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#ifndef PLANNING_ENVIRONMENT_MONITORS_PLANNING_MONITOR_
#define PLANNING_ENVIRONMENT_MONITORS_PLANNING_MONITOR_

#include "planning_environment/monitors/collision_space_monitor.h"
#include <trajectory_msgs/JointTrajectory.h>
#include <arm_navigation_msgs/Constraints.h>
#include <arm_navigation_msgs/GetMotionPlan.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>
#include <iostream>

namespace planning_environment
{
class PlanningMonitor : public CollisionSpaceMonitor
{
public:
                
  PlanningMonitor(CollisionModels *cm, tf::TransformListener *tf) : CollisionSpaceMonitor(cm, tf)
  {
    loadParams();
    use_collision_map_ = true;
  }
        
  virtual ~PlanningMonitor(void)
  {
  }
        
  bool getCompletePlanningScene(const arm_navigation_msgs::PlanningScene& planning_diff,
                                const arm_navigation_msgs::OrderedCollisionOperations& ordered_collision_operations,
                                arm_navigation_msgs::PlanningScene& planning_scene) const;

  void getAllFixedFrameTransforms(std::vector<geometry_msgs::TransformStamped>& transform_vec) const;

protected:

  void loadParams(void);
        
  double intervalCollisionMap_;
  double intervalState_;
  double intervalPose_;
};      
}

#endif