SnapConfigurationToConfigurationPlanner.hpp

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#ifndef AIKIDO_PLANNER_SNAPCONFIGURATIONTOCONFIGURATIONPLANNER_HPP_
#define AIKIDO_PLANNER_SNAPCONFIGURATIONTOCONFIGURATIONPLANNER_HPP_
 
#include "aikido/planner/ConfigurationToConfiguration.hpp"
#include "aikido/planner/ConfigurationToConfigurationPlanner.hpp"
 
namespace aikido {
namespace planner {
 
class SnapConfigurationToConfigurationPlanner
  : public ConfigurationToConfigurationPlanner
{
public:
  explicit SnapConfigurationToConfigurationPlanner(
      statespace::ConstStateSpacePtr stateSpace,
      statespace::ConstInterpolatorPtr interpolator = nullptr);
 
  trajectory::TrajectoryPtr plan(
      const SolvableProblem& problem, Result* result = nullptr) override;
 
  void setInterpolator(statespace::ConstInterpolatorPtr interpolator);
 
  statespace::ConstInterpolatorPtr getInterpolator() const;
 
protected:
  statespace::ConstInterpolatorPtr mInterpolator;
};
 
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_SNAPCONFIGURATIONTOCONFIGURATIONPLANNER_HPP_