WorldStateSaver.hpp

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#ifndef AIKIDO_PLANNER_WORLDSTATESAVER_HPP_
#define AIKIDO_PLANNER_WORLDSTATESAVER_HPP_
 
#include "aikido/planner/World.hpp"
 
namespace aikido {
namespace planner {
 
class WorldStateSaver
{
public:
  enum Options
  {
    CONFIGURATIONS = 1 << 0,
  };
 
  explicit WorldStateSaver(World* world, int options = CONFIGURATIONS);
 
  virtual ~WorldStateSaver();
 
private:
  World* mWorld;
 
  int mOptions;
 
  World::State mWorldState;
};
 
} // namespace planner
} // namespace aikido
 
#endif // ifndef AIKIDO_PLANNER_WORLDSTATESAVER_HPP_