00001 #ifndef NAVSTACK_PLANNING_SCENE_MODULE_H 00002 #define NAVSTACK_PLANNING_SCENE_MODULE_H 00003 00004 #include "tfd_modules/module_api/pddlModuleTypes.h" 00005 #include "tidyup_utils/arm_state.h" 00006 #include "tidyup_utils/planning_scene_interface.h" 00007 #include <ros/ros.h> 00008 #include <sensor_msgs/JointState.h> 00009 00010 using namespace modules; 00011 00012 //class PlanningSceneNavigationModule 00013 //{ 00014 //public: 00015 // static PlanningSceneNavigationModule* instance(); 00016 // 00017 // void initModule(int argc, char** argv); 00018 // 00019 // // TEST and DEBUG methods 00022 // 00023 //private: 00024 // static PlanningSceneNavigationModule* singleton_instance; 00025 // PlanningSceneNavigationModule(){} 00026 //}; 00027 00028 #ifdef __cplusplus 00029 extern "C" { 00030 #endif 00031 00032 void planning_scene_navstack_init(int argc, char** argv); 00033 00034 double planning_scene_pathCost(const ParameterList & parameterList, predicateCallbackType predicateCallback, 00035 numericalFluentCallbackType numericalFluentCallback, int relaxed); 00036 00037 #ifdef __cplusplus 00038 } 00039 #endif 00040 00041 00042 #endif 00043
