SnapPlanner.hpp

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#ifndef AIKIDO_PLANNER_SNAPPLANNER_HPP_
#define AIKIDO_PLANNER_SNAPPLANNER_HPP_
 
#include <memory>
 
#include "aikido/common/deprecated.hpp"
#include "aikido/constraint/Testable.hpp"
#include "aikido/planner/PlanningResult.hpp"
#include "aikido/statespace/Interpolator.hpp"
#include "aikido/statespace/StateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
 
namespace aikido {
namespace planner {
 
AIKIDO_DEPRECATED(0.3)
trajectory::InterpolatedPtr planSnap(
    const statespace::ConstStateSpacePtr& stateSpace,
    const statespace::StateSpace::State* startState,
    const statespace::StateSpace::State* goalState,
    const std::shared_ptr<statespace::Interpolator>& interpolator,
    const std::shared_ptr<constraint::Testable>& constraint,
    planner::PlanningResult& planningResult);
 
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_SNAPPLANNER_HPP_