fixed_state.h

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/* Authors: Robert Haschke
   Desc:    Generator Stage spawning a pre-defined, fixed planning scene state
*/
 
#pragma once
 
#include <moveit/task_constructor/stage.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class FixedState : public Generator
{
public:
    FixedState(const std::string& name = "initial state", planning_scene::PlanningScenePtr scene = nullptr);
    void setState(const planning_scene::PlanningScenePtr& scene);
 
    void setIgnoreCollisions(bool ignore) { setProperty("ignore_collisions", ignore); }
 
    void reset() override;
    bool canCompute() const override;
    void compute() override;
 
protected:
    planning_scene::PlanningScenePtr scene_;
    bool ran_ = false;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit