chomp_interface.h

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/* Author: E. Gil Jones */

#ifndef CHOMP_INTERFACE_CHOMP_INTERFACE_H
#define CHOMP_INTERFACE_CHOMP_INTERFACE_H

#include <chomp_motion_planner/chomp_planner.h>
#include <chomp_motion_planner/chomp_parameters.h>
#include <ros/ros.h>

namespace chomp_interface
{
MOVEIT_CLASS_FORWARD(CHOMPInterface);

class CHOMPInterface : public chomp::ChompPlanner
{
public:
  CHOMPInterface(const ros::NodeHandle& nh = ros::NodeHandle("~"));

  const chomp::ChompParameters& getParams() const
  {
    return params_;
  }

protected:
  void loadParams();

  ros::NodeHandle nh_;  

  chomp::ChompParameters params_;
};
}

#endif