query_planners_service_capability.h

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/* Author: Ioan Sucan, Robert Haschke */

#ifndef MOVEIT_MOVE_GROUP_QUERY_PLANNERS_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_QUERY_PLANNERS_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/QueryPlannerInterfaces.h>
#include <moveit_msgs/GetPlannerParams.h>
#include <moveit_msgs/SetPlannerParams.h>

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

  virtual void initialize();

private:
  bool queryInterface(moveit_msgs::QueryPlannerInterfaces::Request& req,
                      moveit_msgs::QueryPlannerInterfaces::Response& res);

  bool getParams(moveit_msgs::GetPlannerParams::Request& req, moveit_msgs::GetPlannerParams::Response& res);
  bool setParams(moveit_msgs::SetPlannerParams::Request& req, moveit_msgs::SetPlannerParams::Response& res);

  ros::ServiceServer query_service_;
  ros::ServiceServer get_service_;
  ros::ServiceServer set_service_;
};
}

#endif