moveit_task_constructor/include/moveit_task_constructor/debug.h
2017-09-28 20:35:44 -07:00

17 lines
466 B
C++

#pragma once
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/DisplayTrajectory.h>
namespace moveit { namespace task_constructor {
MOVEIT_CLASS_FORWARD(Task)
MOVEIT_CLASS_FORWARD(SubTrajectory)
bool publishSolution(ros::Publisher& pub, moveit_msgs::DisplayTrajectory& dt,
std::vector<SubTrajectory*>& solution, bool wait);
void publishAllPlans(const Task &task, const std::string &topic = "task_plan", bool wait = true);
} }