sbpl_interface.h
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00034 
00035 
00036 #ifndef MOVEIT_SBPL_INTERFACE_H_
00037 #define MOVEIT_SBPL_INTERFACE_H_
00038 
00039 #include <sbpl/headers.h>
00040 #include <planning_scene/planning_scene.h>
00041 #include <moveit_msgs/GetMotionPlan.h>
00042 #include <sbpl_interface/environment_chain3d.h>
00043 
00044 namespace sbpl_interface
00045 {
00046 class SBPLInterface
00047 {
00048 public:
00049 
00050   SBPLInterface(const planning_models::RobotModelConstPtr& kmodel){}
00051   virtual ~SBPLInterface(){}
00052 
00053   bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
00054              const moveit_msgs::GetMotionPlan::Request &req,
00055              moveit_msgs::GetMotionPlan::Response &res,
00056              const PlanningParameters& params) const;
00057 
00058   const PlanningStatistics& getLastPlanningStatistics() const {
00059     return last_planning_statistics_;
00060   }
00061 
00062 protected:
00063 
00064   PlanningStatistics last_planning_statistics_;
00065 
00066   //DummyEnvironment* dummy_env_;
00067   //SBPLPlanner *planner_;
00068 
00069 };
00070 
00071 }
00072 
00073 #endif


sbpl_interface
Author(s): Gil Jones
autogenerated on Sun Jan 17 2016 12:57:03