Program Listing for File planning_context_loader_ptp.h

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#pragma once

#include <pilz_industrial_motion_planner/planning_context_loader.h>

#include <moveit/planning_interface/planning_interface.h>

namespace pilz_industrial_motion_planner
{
class PlanningContextLoaderPTP : public PlanningContextLoader
{
public:
  PlanningContextLoaderPTP();
  ~PlanningContextLoaderPTP() override;

  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
                   const std::string& group) const override;
};

typedef std::shared_ptr<PlanningContextLoaderPTP> PlanningContextLoaderPTPPtr;
typedef std::shared_ptr<const PlanningContextLoaderPTP> PlanningContextLoaderPTPConstPtr;

}  // namespace pilz_industrial_motion_planner