constraint_sampler_manager_loader.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLER_MANAGER_LOADER_
#define MOVEIT_CONSTRAINT_SAMPLER_MANAGER_LOADER_

#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <moveit/macros/class_forward.h>

namespace constraint_sampler_manager_loader
{
MOVEIT_CLASS_FORWARD(ConstraintSamplerManagerLoader);

class ConstraintSamplerManagerLoader
{
public:
  ConstraintSamplerManagerLoader(
      const constraint_samplers::ConstraintSamplerManagerPtr& csm = constraint_samplers::ConstraintSamplerManagerPtr());

  const constraint_samplers::ConstraintSamplerManagerPtr& getConstraintSamplerManager() const
  {
    return constraint_sampler_manager_;
  }

private:
  constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;

  MOVEIT_CLASS_FORWARD(Helper)
  HelperPtr impl_;
};
}

#endif