chomp_interface.h
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #ifndef CHOMP_INTERFACE_CHOMP_INTERFACE_H
00038 #define CHOMP_INTERFACE_CHOMP_INTERFACE_H
00039 
00040 #include <chomp_motion_planner/chomp_planner.h>
00041 #include <chomp_motion_planner/chomp_parameters.h>
00042 #include <ros/ros.h>
00043 
00044 namespace chomp_interface
00045 {
00046 MOVEIT_CLASS_FORWARD(CHOMPInterface);
00047 
00048 class CHOMPInterface : public chomp::ChompPlanner
00049 {
00050 public:
00051   CHOMPInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));
00052 
00053   const chomp::ChompParameters& getParams() const
00054   {
00055     return params_;
00056   }
00057 
00058 protected:
00060   void loadParams();
00061 
00062   ros::NodeHandle nh_;  
00063 
00064   chomp::ChompParameters params_;
00065 };
00066 }
00067 
00068 #endif


chomp_interface
Author(s): Gil Jones
autogenerated on Wed Jun 19 2019 19:24:10