generate_pose.h

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/* Authors: Michael Goerner
   Desc:    Generator Stage for poses
*/
 
#pragma once
 
#include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/cost_queue.h>
#include <geometry_msgs/PoseStamped.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class GeneratePose : public MonitoringGenerator
{
public:
    GeneratePose(const std::string& name = "generate pose");
 
    void reset() override;
    bool canCompute() const override;
    void compute() override;
 
    void setPose(const geometry_msgs::PoseStamped& pose) { setProperty("pose", pose); }
 
protected:
    void onNewSolution(const SolutionBase& s) override;
    ordered<const SolutionBase*> upstream_solutions_;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit