common_objects.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_
#define MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_

#include <moveit/planning_scene_monitor/current_state_monitor.h>

namespace moveit
{

namespace planning_interface
{

boost::shared_ptr<tf::Transformer> getSharedTF();

robot_model::RobotModelConstPtr getSharedRobotModel(const std::string &robot_description);

planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr &kmodel, const boost::shared_ptr<tf::Transformer> &tf);

}
}

#endif