kinematics_cache_ros.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2012, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
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00011 *
00012 *   * Redistributions of source code must retain the above copyright
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00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Sachin Chitta
00036 *********************************************************************/
00037 
00038 #ifndef KINEMATICS_CACHE_ROS_H_
00039 #define KINEMATICS_CACHE_ROS_H_
00040 
00041 #include <kinematics_cache/kinematics_cache.h>
00042 #include <planning_models/robot_model.h>
00043 #include <pluginlib/class_loader.h>
00044 
00045 namespace kinematics_cache_ros
00046 {
00047 class KinematicsCacheROS : public kinematics_cache::KinematicsCache
00048 {
00049 public:
00054   KinematicsCacheROS(){};
00055 
00059   bool init(const kinematics_cache::KinematicsCache::Options& opt, const std::string& kinematics_solver_name,
00060             const std::string& group_name, const std::string& base_frame, const std::string& tip_frame,
00061             double search_discretization);
00062 
00063 private:
00064   kinematics::KinematicsBase* kinematics_solver_; 
00066   boost::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> >
00067       kinematics_loader_; 
00069   planning_models::RobotModelPtr kinematic_model_; 
00070 };
00071 }
00072 
00073 #endif


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Wed Jun 19 2019 19:24:03