planning_scene_interface.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_
#define MOVEIT_PLANNING_INTERFACE_PLANNING_SCENE_INTERFACE_

#include <moveit/robot_state/robot_state.h>

namespace moveit
{
namespace planning_interface
{

class PlanningSceneInterface
{
public:
  PlanningSceneInterface();
  ~PlanningSceneInterface();

  std::vector<std::string> getKnownObjectNames(bool with_type = false);

  std::vector<std::string> getKnownObjectNamesInROI(double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type = false);

private:

  class PlanningSceneInterfaceImpl;
  PlanningSceneInterfaceImpl *impl_;

};

}
}

#endif