.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_popf_plan_solver_include_plansys2_popf_plan_solver_popf_plan_solver.hpp:

Program Listing for File popf_plan_solver.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_popf_plan_solver_include_plansys2_popf_plan_solver_popf_plan_solver.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_popf_plan_solver/include/plansys2_popf_plan_solver/popf_plan_solver.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 Intelligent Robotics Lab
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef PLANSYS2_POPF_PLAN_SOLVER__POPF_PLAN_SOLVER_HPP_
   #define PLANSYS2_POPF_PLAN_SOLVER__POPF_PLAN_SOLVER_HPP_
   
   #include <optional>
   #include <memory>
   #include <string>
   
   #include "plansys2_core/PlanSolverBase.hpp"
   
   namespace plansys2
   {
   
   class POPFPlanSolver : public PlanSolverBase
   {
   private:
     std::string parameter_name_;
     rclcpp_lifecycle::LifecycleNode::SharedPtr lc_node_;
   
   public:
     POPFPlanSolver();
   
     void configure(rclcpp_lifecycle::LifecycleNode::SharedPtr &, const std::string &);
   
     std::optional<plansys2_msgs::msg::Plan> getPlan(
       const std::string & domain, const std::string & problem,
       const std::string & node_namespace = "");
   
     bool is_valid_domain(
       const std::string & domain,
       const std::string & node_namespace = "");
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_POPF_PLAN_SOLVER__POPF_PLAN_SOLVER_HPP_