ConfigurationToConfiguration_to_ConfigurationToTSR.hpp

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#ifndef AIKIDO_PLANNER_DART_CONFIGURATIONTOCONFIGURATIONTOCONFIGURATIONTOTSR_HPP_
#define AIKIDO_PLANNER_DART_CONFIGURATIONTOCONFIGURATIONTOCONFIGURATIONTOTSR_HPP_
 
#include "aikido/planner/ConfigurationToConfigurationPlanner.hpp"
#include "aikido/planner/dart/ConfigurationToTSRPlanner.hpp"
#include "aikido/planner/dart/PlannerAdapter.hpp"
 
namespace aikido {
namespace planner {
namespace dart {
 
class ConfigurationToConfiguration_to_ConfigurationToTSR
  : public PlannerAdapter<
        aikido::planner::ConfigurationToConfigurationPlanner,
        ConfigurationToTSRPlanner>
{
public:
  ConfigurationToConfiguration_to_ConfigurationToTSR(
      std::shared_ptr<aikido::planner::ConfigurationToConfigurationPlanner>
          planner,
      ::dart::dynamics::MetaSkeletonPtr metaSkeleton,
      distance::ConstConfigurationRankerPtr configurationRanker = nullptr);
 
  // Documentation inherited.
  virtual trajectory::TrajectoryPtr plan(
      const ConfigurationToTSR& problem, Planner::Result* result) override;
};
 
} // namespace dart
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_DART_CONFIGURATIONTOCONFIGURATIONTOCONFIGURATIONTOTSR_HPP_