move_group_context.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_CONTEXT_
00038 #define MOVEIT_MOVE_GROUP_CONTEXT_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 
00042 namespace planning_scene_monitor
00043 {
00044 MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);
00045 }
00046 
00047 namespace planning_pipeline
00048 {
00049 MOVEIT_CLASS_FORWARD(PlanningPipeline);
00050 }
00051 
00052 namespace plan_execution
00053 {
00054 MOVEIT_CLASS_FORWARD(PlanExecution);
00055 MOVEIT_CLASS_FORWARD(PlanWithSensing);
00056 }
00057 
00058 namespace trajectory_execution_manager
00059 {
00060 MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);
00061 }
00062 
00063 namespace move_group
00064 {
00065 MOVEIT_CLASS_FORWARD(MoveGroupContext);
00066 
00067 struct MoveGroupContext
00068 {
00069   MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
00070                    bool allow_trajectory_execution = false, bool debug = false);
00071   ~MoveGroupContext();
00072 
00073   bool status() const;
00074 
00075   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
00076   trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
00077   planning_pipeline::PlanningPipelinePtr planning_pipeline_;
00078   plan_execution::PlanExecutionPtr plan_execution_;
00079   plan_execution::PlanWithSensingPtr plan_with_sensing_;
00080   bool allow_trajectory_execution_;
00081   bool debug_;
00082 };
00083 }
00084 
00085 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jan 17 2018 03:32:29