chomp_planner.h
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #ifndef _CHOMP_PLANNER_H_
00038 #define _CHOMP_PLANNER_H_
00039 
00040 #include <chomp_motion_planner/chomp_parameters.h>
00041 #include <moveit_msgs/GetMotionPlan.h>
00042 #include <planning_scene/planning_scene.h>
00043 
00044 namespace chomp {
00045 
00046 class ChompPlanner
00047 {
00048 public:
00049   ChompPlanner(const planning_models::RobotModelConstPtr& kmodel);
00050   virtual ~ChompPlanner(){};
00051 
00052   bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
00053              const moveit_msgs::GetMotionPlan::Request &req,
00054              const ChompParameters& params,
00055              moveit_msgs::GetMotionPlan::Response &res) const;
00056 
00057 protected:
00058 
00060   // bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
00061   //            const moveit_msgs::GetMotionPlan::Request &req,
00062   //            moveit_msgs::MotionPlanDetailedResponse &res) const;
00063 
00064   //void terminateSolve();
00065 
00066 };
00067 
00068 }
00069 
00070 #endif


chomp_motion_planner
Author(s): Gil Jones
autogenerated on Wed Sep 16 2015 04:42:45