chomp_planning_context.h

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/* Author: Chittaranjan Srinivas Swaminathan */

#ifndef CHOMP_INTERFACE_CHOMP_PLANNING_CONTEXT_H
#define CHOMP_INTERFACE_CHOMP_PLANNING_CONTEXT_H

#include <moveit/planning_interface/planning_interface.h>
#include <chomp_interface/chomp_interface.h>

#include <tf/transform_listener.h>

namespace chomp_interface
{
MOVEIT_CLASS_FORWARD(CHOMPPlanningContext);

class CHOMPPlanningContext : public planning_interface::PlanningContext
{
public:
  virtual bool solve(planning_interface::MotionPlanResponse& res);
  virtual bool solve(planning_interface::MotionPlanDetailedResponse& res);

  virtual void clear();
  virtual bool terminate();

  CHOMPPlanningContext(const std::string& name, const std::string& group, const robot_model::RobotModelConstPtr& model);

  virtual ~CHOMPPlanningContext();

  void initialize();

private:
  CHOMPInterfacePtr chomp_interface_;
  moveit::core::RobotModelConstPtr robot_model_;

  boost::shared_ptr<tf::TransformListener> tf_;
};

} /* namespace chomp_interface */

#endif /* CHOMP_PLANNING_CONTEXT_H_ */