cached_ik_kinematics_plugin.cpp

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/* Author: Mark Moll */

#include <moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h>
#include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
// compilation error: KDL and LMA kinematics plugins declare same types
//#include <moveit/lma_kinematics_plugin/lma_kinematics_plugin.h>
#include <moveit/srv_kinematics_plugin/srv_kinematics_plugin.h>

#include <pluginlib/class_list_macros.hpp>
// register CachedIKKinematicsPlugin<KDLKinematicsPlugin> as a KinematicsBase implementation
PLUGINLIB_EXPORT_CLASS(
    cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<kdl_kinematics_plugin::KDLKinematicsPlugin>,
    kinematics::KinematicsBase);

// register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
// PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<lma_kinematics_plugin::LMAKinematicsPlugin>,
// kinematics::KinematicsBase);

// register CachedIKKinematicsPlugin<SrvKinematicsPlugin> as a KinematicsBase implementation
PLUGINLIB_EXPORT_CLASS(
    cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<srv_kinematics_plugin::SrvKinematicsPlugin>,
    kinematics::KinematicsBase);

#ifdef CACHED_IK_KINEMATICS_TRAC_IK
#include <trac_ik/trac_ik_kinematics_plugin.hpp>
// register CachedIKKinematicsPlugin<TRAC_IKKinematicsPlugin> as a KinematicsBase implementation
PLUGINLIB_EXPORT_CLASS(
    cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<trac_ik_kinematics_plugin::TRAC_IKKinematicsPlugin>,
    kinematics::KinematicsBase);
#endif