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/* Author: Itamar Mishani (imishani@andrew.cmu)
 * Date: Sep 7, 2023
 */

#ifndef SRMP_PLANNING_CONTEXT_H
#define SRMP_PLANNING_CONTEXT_H

#include <moveit/planning_interface/planning_interface.h>
#include "srmp_interface.hpp"

namespace srmp_interface
{
MOVEIT_CLASS_FORWARD(SRMPPlanningContext);

class SRMPPlanningContext : public planning_interface::PlanningContext
{
public:
  SRMPPlanningContext(const std::string& name, const std::string& ns, const std::string& group,
                      const moveit::core::RobotModelConstPtr& model);

  ~SRMPPlanningContext() override = default;

  bool solve(planning_interface::MotionPlanResponse& res) override;
  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;

  bool terminate() override;
  void clear() override;

private:
  moveit::core::RobotModelConstPtr robot_model_;
  moveit::core::RobotStatePtr robot_state_;
  SRMPInterfacePtr srmp_interface_;
};

}  // namespace srmp_interface

#endif  // SRMP_PLANNING_CONTEXT_H
