Program Listing for File popf_plan_solver.hpp
↰ Return to documentation for file (/tmp/ws/src/ros2_planning_system/plansys2_popf_plan_solver/include/plansys2_popf_plan_solver/popf_plan_solver.hpp
)
// 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_