constraint_sampler_manager_loader.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLER_MANAGER_LOADER_
#define MOVEIT_CONSTRAINT_SAMPLER_MANAGER_LOADER_

#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <boost/shared_ptr.hpp>

namespace constraint_sampler_manager_loader
{

class ConstraintSamplerManagerLoader
{
public:

  ConstraintSamplerManagerLoader(const constraint_samplers::ConstraintSamplerManagerPtr &csm = constraint_samplers::ConstraintSamplerManagerPtr());

  const constraint_samplers::ConstraintSamplerManagerPtr& getConstraintSamplerManager() const
  {
    return constraint_sampler_manager_;
  }

private:

  constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;

  class Helper;
  boost::shared_ptr<Helper> impl_;

};

typedef boost::shared_ptr<ConstraintSamplerManagerLoader> ConstraintSamplerManagerLoaderPtr;
typedef boost::shared_ptr<const ConstraintSamplerManagerLoader> ConstraintSamplerManagerLoaderConstPtr;

}

#endif