approach_and_translate_stage.h

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/* Author: Ioan Sucan, Sachin Chitta */

#ifndef MOVEIT_PICK_PLACE_APPROACH_AND_TRANSLATE_STAGE_
#define MOVEIT_PICK_PLACE_APPROACH_AND_TRANSLATE_STAGE_

#include <moveit/pick_place/manipulation_stage.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>

namespace pick_place
{
class ApproachAndTranslateStage : public ManipulationStage
{
public:
  ApproachAndTranslateStage(const planning_scene::PlanningSceneConstPtr& scene,
                            const collision_detection::AllowedCollisionMatrixConstPtr& collision_matrix);

  virtual bool evaluate(const ManipulationPlanPtr& plan) const;

private:
  planning_scene::PlanningSceneConstPtr planning_scene_;
  collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_;
  trajectory_processing::IterativeParabolicTimeParameterization time_param_;

  unsigned int max_goal_count_;
  unsigned int max_fail_;
  double max_step_;
  double jump_factor_;
};
}

#endif