Program Listing for File move_group_context.h
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/* Author: Ioan Sucan */
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <moveit/macros/class_forward.h>
namespace moveit_cpp
{
MOVEIT_CLASS_FORWARD(MoveItCpp);
}
namespace planning_scene_monitor
{
MOVEIT_CLASS_FORWARD(PlanningSceneMonitor); // Defines PlanningSceneMonitorPtr, ConstPtr, WeakPtr... etc
}
namespace planning_pipeline
{
MOVEIT_CLASS_FORWARD(PlanningPipeline); // Defines PlanningPipelinePtr, ConstPtr, WeakPtr... etc
}
namespace plan_execution
{
MOVEIT_CLASS_FORWARD(PlanExecution); // Defines PlanExecutionPtr, ConstPtr, WeakPtr... etc
} // namespace plan_execution
namespace trajectory_execution_manager
{
MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager); // Defines TrajectoryExecutionManagerPtr, ConstPtr, WeakPtr... etc
}
namespace move_group
{
MOVEIT_STRUCT_FORWARD(MoveGroupContext);
struct MoveGroupContext
{
MoveGroupContext(const moveit_cpp::MoveItCppPtr& moveit_cpp, const std::string& default_planning_pipeline,
bool allow_trajectory_execution = false, bool debug = false);
~MoveGroupContext();
bool status() const;
moveit_cpp::MoveItCppPtr moveit_cpp_;
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
planning_pipeline::PlanningPipelinePtr planning_pipeline_;
plan_execution::PlanExecutionPtr plan_execution_;
bool allow_trajectory_execution_;
bool debug_;
};
} // namespace move_group