state_validation_service_capability.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_STATE_VALIDATION_SERVICE_CAPABILITY_
#define MOVEIT_MOVE_GROUP_STATE_VALIDATION_SERVICE_CAPABILITY_

#include <moveit/move_group/move_group_capability.h>
#include <moveit_msgs/GetStateValidity.h>

namespace move_group
{
class MoveGroupStateValidationService : public MoveGroupCapability
{
public:
  MoveGroupStateValidationService();

  virtual void initialize();

private:
  bool computeService(moveit_msgs::GetStateValidity::Request& req, moveit_msgs::GetStateValidity::Response& res);

  ros::ServiceServer validity_service_;
};
}

#endif