sbpl_interface.h

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#ifndef MOVEIT_SBPL_INTERFACE_H_
#define MOVEIT_SBPL_INTERFACE_H_

#include <sbpl/headers.h>
#include <planning_scene/planning_scene.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <sbpl_interface/environment_chain3d.h>

namespace sbpl_interface
{
class SBPLInterface
{
public:

  SBPLInterface(const planning_models::RobotModelConstPtr& kmodel){}
  virtual ~SBPLInterface(){}

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::GetMotionPlan::Request &req,
             moveit_msgs::GetMotionPlan::Response &res,
             const PlanningParameters& params) const;

  const PlanningStatistics& getLastPlanningStatistics() const {
    return last_planning_statistics_;
  }

protected:

  PlanningStatistics last_planning_statistics_;

  //DummyEnvironment* dummy_env_;
  //SBPLPlanner *planner_;

};

}

#endif