chomp_planner.h

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/* Author: E. Gil Jones */

#ifndef _CHOMP_PLANNER_H_
#define _CHOMP_PLANNER_H_

#include <chomp_motion_planner/chomp_parameters.h>
#include <moveit_msgs/MotionPlanDetailedResponse.h>
#include <moveit_msgs/MotionPlanRequest.h>
#include <moveit/planning_scene/planning_scene.h>

namespace chomp
{
class ChompPlanner
{
public:
  ChompPlanner();
  virtual ~ChompPlanner(){};

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene, const moveit_msgs::MotionPlanRequest& req,
             const ChompParameters& params, moveit_msgs::MotionPlanDetailedResponse& res) const;
};
}

#endif