multi_planner.h

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/* Authors: Robert Haschke
   Desc:    meta planner, running multiple planners in parallel or sequence
*/
 
#pragma once
 
#include <moveit/task_constructor/solvers/planner_interface.h>
#include <vector>
 
namespace moveit {
namespace task_constructor {
namespace solvers {
 
MOVEIT_CLASS_FORWARD(MultiPlanner);
 
class MultiPlanner : public PlannerInterface, public std::vector<solvers::PlannerInterfacePtr>
{
public:
    using PlannerList = std::vector<solvers::PlannerInterfacePtr>;
    using PlannerList::PlannerList;  // inherit all std::vector constructors
 
    void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 
    Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
                const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
                const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
 
    Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
                const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target,
                const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
                const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
};
}  // namespace solvers
}  // namespace task_constructor
}  // namespace moveit