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25 lines
525 B
C++
25 lines
525 B
C++
#pragma once
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#include <moveit/macros/class_forward.h>
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#include <moveit_msgs/DisplayTrajectory.h>
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#include <ros/publisher.h>
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#include <set>
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namespace moveit { namespace task_constructor {
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MOVEIT_CLASS_FORWARD(Task)
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MOVEIT_CLASS_FORWARD(SolutionBase)
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void publishAllPlans(const Task &task, const std::string &topic = "task_plan", bool wait = true);
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class NewSolutionPublisher {
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ros::Publisher pub_;
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public:
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NewSolutionPublisher(const std::string &topic = "task_plan");
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void operator()(const SolutionBase &s);
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};
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} }
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