#pragma once #include #include #include #include namespace moveit { namespace task_constructor { MOVEIT_CLASS_FORWARD(Task) MOVEIT_CLASS_FORWARD(SolutionBase) void publishAllPlans(const Task &task, const std::string &topic = "task_plan", bool wait = true); class NewSolutionPublisher { ros::Publisher pub_; public: NewSolutionPublisher(const std::string &topic = "task_plan"); void operator()(const SolutionBase &s); }; } }