moveit_task_constructor/include/moveit_task_constructor/debug.h
2017-10-20 16:40:11 +02:00

25 lines
525 B
C++

#pragma once
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <ros/publisher.h>
#include <set>
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);
};
} }