empty.cpp

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/* Author: Ioan Sucan */

#include <moveit/planning_request_adapter/planning_request_adapter.h>
#include <class_loader/class_loader.h>

namespace default_planner_request_adapters
{

class Empty : public planning_request_adapter::PlanningRequestAdapter
{
public:
  virtual std::string getDescription() const { return "No Op"; }

  virtual bool adaptAndPlan(const PlannerFn &planner,
                            const planning_scene::PlanningSceneConstPtr& planning_scene,
                            const planning_interface::MotionPlanRequest &req,
                            planning_interface::MotionPlanResponse &res,
                            std::vector<std::size_t> &added_path_index) const
  {
    return planner(planning_scene, req, res);
  }
};

}

CLASS_LOADER_REGISTER_CLASS(default_planner_request_adapters::Empty,
                            planning_request_adapter::PlanningRequestAdapter);