chomp_planner.h

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/* Author: E. Gil Jones */

#ifndef _CHOMP_PLANNER_H_
#define _CHOMP_PLANNER_H_

#include <chomp_motion_planner/chomp_parameters.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <planning_scene/planning_scene.h>

namespace chomp {

class ChompPlanner
{
public:
  ChompPlanner(const planning_models::RobotModelConstPtr& kmodel);
  virtual ~ChompPlanner(){};

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::GetMotionPlan::Request &req,
             const ChompParameters& params,
             moveit_msgs::GetMotionPlan::Response &res) const;

protected:

  // bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
  //            const moveit_msgs::GetMotionPlan::Request &req,
  //            moveit_msgs::MotionPlanDetailedResponse &res) const;

  //void terminateSolve();

};

}

#endif