move_group_context.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVE_GROUP_CONTEXT_
#define MOVEIT_MOVE_GROUP_CONTEXT_

#include <moveit/macros/class_forward.h>

namespace planning_scene_monitor
{
MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);
}

namespace planning_pipeline
{
MOVEIT_CLASS_FORWARD(PlanningPipeline);
}

namespace plan_execution
{
MOVEIT_CLASS_FORWARD(PlanExecution);
MOVEIT_CLASS_FORWARD(PlanWithSensing);
}

namespace trajectory_execution_manager
{
MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);
}

namespace move_group
{

struct MoveGroupContext
{
  MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor,
           bool allow_trajectory_execution = false,
           bool debug = false);
  ~MoveGroupContext();

  bool status() const;

  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
  planning_pipeline::PlanningPipelinePtr planning_pipeline_;
  plan_execution::PlanExecutionPtr plan_execution_;
  plan_execution::PlanWithSensingPtr plan_with_sensing_;
  bool allow_trajectory_execution_;
  bool debug_;
};

typedef boost::shared_ptr<MoveGroupContext> MoveGroupContextPtr;

}

#endif