current_state.h

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/* Authors: Michael Goerner, Luca Lach, Robert Haschke
   Desc:    Generator Stage to fetch the current PlanningScene state
*/
 
#pragma once
 
#include <moveit/task_constructor/stage.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class CurrentState : public Generator
{
public:
    CurrentState(const std::string& name = "current state");
 
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
    bool canCompute() const override;
    void compute() override;
 
protected:
    moveit::core::RobotModelConstPtr robot_model_;
    planning_scene::PlanningScenePtr scene_;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit