chomp_interface_ros.h
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #ifndef _CHOMP_INTERFACE_ROS_H_
00038 #define _CHOMP_INTERFACE_ROS_H_
00039 
00040 #include <chomp_motion_planner/chomp_planner.h>
00041 #include <chomp_motion_planner/chomp_parameters.h>
00042 #include <ros/ros.h>
00043 
00044 namespace chomp_interface_ros
00045 {
00047 class CHOMPInterfaceROS : public chomp::ChompPlanner
00048 {
00049 public:
00050   CHOMPInterfaceROS(const planning_models::RobotModelConstPtr &kmodel);
00051 
00052   const chomp::ChompParameters& getParams() const {
00053     return params_;
00054   }
00055 
00056 protected:
00057 
00059   void loadParams();
00060 
00061   ros::NodeHandle nh_; 
00062 
00063   chomp::ChompParameters params_;
00064 };
00065 
00066 }
00067 
00068 #endif


chomp_interface_ros
Author(s): Gil Jones
autogenerated on Mon Oct 6 2014 11:12:41