plan_service_capability.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_PLAN_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_PLAN_SERVICE_CAPABILITY_

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

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

  virtual void initialize();

private:
  bool computePlanService(moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res);

  ros::ServiceServer plan_service_;
};
}

#endif