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