.. _program_listing_file__tmp_ws_src_ros2_planning_system_plansys2_planner_include_plansys2_planner_PlannerInterface.hpp:

Program Listing for File PlannerInterface.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_planning_system_plansys2_planner_include_plansys2_planner_PlannerInterface.hpp>` (``/tmp/ws/src/ros2_planning_system/plansys2_planner/include/plansys2_planner/PlannerInterface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 Intelligent Robotics Lab
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef PLANSYS2_PLANNER__PLANNERINTERFACE_HPP_
   #define PLANSYS2_PLANNER__PLANNERINTERFACE_HPP_
   
   #include <optional>
   #include <string>
   
   #include "plansys2_msgs/msg/plan.hpp"
   
   namespace plansys2
   {
   
   class PlannerInterface
   {
   public:
     PlannerInterface() {}
   
     virtual std::optional<plansys2_msgs::msg::Plan> getPlan(
       const std::string & domain, const std::string & problem,
       const std::string & node_namespace) = 0;
   };
   
   }  // namespace plansys2
   
   #endif  // PLANSYS2_PLANNER__PLANNERINTERFACE_HPP_