joint_model_state_space_factory.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_JOINT_SPACE_JOINT_MODEL_STATE_SPACE_FACTORY_
00038 #define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_JOINT_SPACE_JOINT_MODEL_STATE_SPACE_FACTORY_
00039 
00040 #include <moveit/ompl_interface/parameterization/model_based_state_space_factory.h>
00041 
00042 namespace ompl_interface
00043 {
00044 class JointModelStateSpaceFactory : public ModelBasedStateSpaceFactory
00045 {
00046 public:
00047   JointModelStateSpaceFactory();
00048 
00049   virtual int canRepresentProblem(const std::string& group, const moveit_msgs::MotionPlanRequest& req,
00050                                   const robot_model::RobotModelConstPtr& robot_model) const;
00051 
00052 protected:
00053   virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const;
00054 };
00055 }
00056 
00057 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Wed Jan 17 2018 03:32:20