common_objects.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/planning_scene_monitor/current_state_monitor.h>
 
namespace moveit
{
namespace planning_interface
{
std::shared_ptr<tf2_ros::Buffer> getSharedTF();
 
moveit::core::RobotModelConstPtr getSharedRobotModel(const std::string& robot_description);
 
planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                                                                     const std::shared_ptr<tf2_ros::Buffer>& tf_buffer);
 
planning_scene_monitor::CurrentStateMonitorPtr
getSharedStateMonitor(const moveit::core::RobotModelConstPtr& robot_model,
                      const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const ros::NodeHandle& nh);
 
}  // namespace planning_interface
}  // namespace moveit