kinematics_cache_ros.h

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#ifndef KINEMATICS_CACHE_ROS_H_
#define KINEMATICS_CACHE_ROS_H_

#include <kinematics_cache/kinematics_cache.h>
#include <planning_models/robot_model.h>
#include <pluginlib/class_loader.hpp>

namespace kinematics_cache_ros
{
class KinematicsCacheROS : public kinematics_cache::KinematicsCache
{
public:
  KinematicsCacheROS(){};

  bool init(const kinematics_cache::KinematicsCache::Options& opt, const std::string& kinematics_solver_name,
            const std::string& group_name, const std::string& base_frame, const std::string& tip_frame,
            double search_discretization);

private:
  kinematics::KinematicsBase* kinematics_solver_; 
  boost::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> >
      kinematics_loader_; 
  planning_models::RobotModelPtr kinematic_model_; 
};
}

#endif