visualization_moveit.h

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//
// Copyright (c) 2018, Wolfgang Merkt
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//  * Redistributions in binary form must reproduce the above copyright
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#ifndef EXOTICA_CORE_VISUALIZATION_MOVEIT_H_
#define EXOTICA_CORE_VISUALIZATION_MOVEIT_H_
 
#include <exotica_core/scene.h>
#include <exotica_core/tools/uncopyable.h>
 
#include <ros/ros.h>
 
namespace exotica
{
class VisualizationMoveIt : public Uncopyable
{
public:
    VisualizationMoveIt(ScenePtr scene);
    virtual ~VisualizationMoveIt();
 
    void Initialize();
 
    void DisplayTrajectory(Eigen::MatrixXdRefConst trajectory);
 
private:
    ScenePtr scene_ = std::make_shared<Scene>(nullptr);
    ros::Publisher trajectory_pub_;
};
}  // namespace exotica
 
#endif  // EXOTICA_CORE_VISUALIZATION_MOVEIT_H_