merge.h

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/* Authors: Luca Lach, Robert Haschke */
 
#pragma once
 
#include <moveit/task_constructor/storage.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/trajectory_processing/time_parameterization.h>
 
namespace moveit {
namespace task_constructor {
 
moveit::core::JointModelGroup* merge(const std::vector<const moveit::core::JointModelGroup*>& groups);
 
robot_trajectory::RobotTrajectoryPtr
merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajectories,
      const moveit::core::RobotState& base_state, moveit::core::JointModelGroup*& merged_group,
      const trajectory_processing::TimeParameterization& time_parameterization);
}  // namespace task_constructor
}  // namespace moveit