common_objects.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_
#define MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_

#include <moveit/planning_scene_monitor/current_state_monitor.h>

namespace moveit
{
namespace planning_interface
{
boost::shared_ptr<tf::Transformer> getSharedTF();

robot_model::RobotModelConstPtr getSharedRobotModel(const std::string& robot_description);

planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& kmodel,
                                                                     const boost::shared_ptr<tf::Transformer>& tf);

planning_scene_monitor::CurrentStateMonitorPtr getSharedStateMonitor(const robot_model::RobotModelConstPtr& kmodel,
                                                                     const boost::shared_ptr<tf::Transformer>& tf,
                                                                     ros::NodeHandle nh);

}  // namespace planning interface
}  // namespace moveit

#endif  // end of MOVEIT_PLANNING_INTERFACE_COMMON_OBJECTS_