cartesian_path_service_capability.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_CARTESIAN_PATH_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_CARTESIAN_PATH_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/GetCartesianPath.h>

namespace move_group
{
class MoveGroupCartesianPathService : public MoveGroupCapability
{
public:
  MoveGroupCartesianPathService();

  virtual void initialize();

private:
  bool computeService(moveit_msgs::GetCartesianPath::Request& req, moveit_msgs::GetCartesianPath::Response& res);

  ros::ServiceServer cartesian_path_service_;
  ros::Publisher display_path_;
  bool display_computed_paths_;
};
}

#endif