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@davetcoleman @rhaschke @de-vri-es @jonbinney @isucan
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#pragma once
#include <moveit/macros/class_forward.h>
namespace planning_scene_monitor
{
MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);
}
namespace planning_pipeline
{
MOVEIT_CLASS_FORWARD(PlanningPipeline);
}
namespace plan_execution
{
MOVEIT_CLASS_FORWARD(PlanExecution);
MOVEIT_CLASS_FORWARD(PlanWithSensing);
}
namespace trajectory_execution_manager
{
MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);
}
namespace move_group
{
MOVEIT_STRUCT_FORWARD(MoveGroupContext);
struct MoveGroupContext
{
MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
bool allow_trajectory_execution = false, bool debug = false);
~MoveGroupContext();
bool status() const;
planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
planning_pipeline::PlanningPipelinePtr planning_pipeline_;
plan_execution::PlanExecutionPtr plan_execution_;
plan_execution::PlanWithSensingPtr plan_with_sensing_;
bool allow_trajectory_execution_;
bool debug_;
};
}
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