collision_proximity_planner_plugin.h

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#ifndef COLLISION_PROXIMITY_PLANNER_PLUGIN_H_
#define COLLISION_PROXIMITY_PLANNER_PLUGIN_H_


// Plugin
#include <motion_planning_state_refinement/motion_planning_state_refinement.h>

// Other
#include <collision_proximity_planner/collision_proximity_planner.h>

namespace collision_proximity_planner
{
  class CollisionProximityPlannerPlugin : public  motion_planning_state_refinement::MotionPlanningStateRefinement
  {
    public:    
    CollisionProximityPlannerPlugin();

    bool setGroupName(const std::string &group_name);

    bool refineState(const arm_navigation_msgs::RobotState &robot_state,
                     const arm_navigation_msgs::Constraints &constraints,
                     arm_navigation_msgs::RobotState &group_state);

    bool setRobotState(const arm_navigation_msgs::RobotState &robot_state);

    bool setGroupState(const arm_navigation_msgs::RobotState &group_state);

    bool setConstraints(const arm_navigation_msgs::Constraints &constraints);

    bool refineState(arm_navigation_msgs::RobotState &group_state,
                     arm_navigation_msgs::RobotTrajectory &robot_trajectory);

    void getStateGradient(const arm_navigation_msgs::RobotState &group_state,
                          double &distance,
                          arm_navigation_msgs::RobotState &gradient);

    void clear();

  private:
    collision_proximity_planner::CollisionProximityPlanner planner_;
  };
}

#endif