goalconstraintsmsgconvertible.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef GOALCONSTRAINTSMSGCONVERTIBLE_H
#define GOALCONSTRAINTSMSGCONVERTIBLE_H

#include <string>

#include <moveit_msgs/Constraints.h>
#include <moveit/robot_model/robot_model.h>

namespace pilz_industrial_motion_testutils
{

class GoalConstraintMsgConvertible
{
public:
  virtual moveit_msgs::Constraints toGoalConstraints() const = 0;
};

}

#endif // GOALCONSTRAINTSMSGCONVERTIBLE_H