Program Listing for File PlannerClient.hpp
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// 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_PLANNER__PLANNERCLIENT_HPP_
#define PLANSYS2_PLANNER__PLANNERCLIENT_HPP_
#include <optional>
#include <string>
#include <vector>
#include "plansys2_planner/PlannerInterface.hpp"
#include "plansys2_msgs/srv/get_plan.hpp"
#include "rclcpp/rclcpp.hpp"
namespace plansys2
{
class PlannerClient : public PlannerInterface
{
public:
PlannerClient();
std::optional<plansys2_msgs::msg::Plan> getPlan(
const std::string & domain, const std::string & problem,
const std::string & node_namespace = "");
private:
rclcpp::Client<plansys2_msgs::srv::GetPlan>::SharedPtr
get_plan_client_;
rclcpp::Node::SharedPtr node_;
};
} // namespace plansys2
#endif // PLANSYS2_PLANNER__PLANNERCLIENT_HPP_