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#pragma once

#include "pilz_industrial_motion_planner/planning_context_loader.h"

#include <moveit/planning_interface/planning_interface.h>

namespace pilz_industrial_motion_planner
{
/**
 * @brief Plugin that can generate instances of PlanningContextCIRC.
 * Generates instances of PlanningContextLIN.
 */
class PlanningContextLoaderCIRC : public PlanningContextLoader
{
public:
  PlanningContextLoaderCIRC();
  ~PlanningContextLoaderCIRC() override;

  /**
   * @brief return a instance of
   * pilz_industrial_motion_planner::PlanningContextCIRC
   * @param planning_context returned context
   * @param name
   * @param group
   * @return true on success, false otherwise
   */
  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
                   const std::string& group) const override;
};

typedef boost::shared_ptr<PlanningContextLoaderCIRC> PlanningContextLoaderCIRCPtr;
typedef boost::shared_ptr<const PlanningContextLoaderCIRC> PlanningContextLoaderCIRCConstPtr;

}  // namespace pilz_industrial_motion_planner
