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/* Author: Chittaranjan Srinivas Swaminathan */

#pragma once

#include <moveit/planning_interface/planning_interface.h>
#include <chomp_interface/chomp_interface.h>

namespace chomp_interface
{
MOVEIT_CLASS_FORWARD(CHOMPPlanningContext);  // Defines CHOMPPlanningContextPtr, ConstPtr, WeakPtr... etc

class CHOMPPlanningContext : public planning_interface::PlanningContext
{
public:
  bool solve(planning_interface::MotionPlanResponse& res) override;
  bool solve(planning_interface::MotionPlanDetailedResponse& res) override;

  void clear() override;
  bool terminate() override;

  CHOMPPlanningContext(const std::string& name, const std::string& group, const moveit::core::RobotModelConstPtr& model,
                       ros::NodeHandle& nh);

  ~CHOMPPlanningContext() override = default;

  void initialize();

private:
  CHOMPInterfacePtr chomp_interface_;
  moveit::core::RobotModelConstPtr robot_model_;
};

} /* namespace chomp_interface */
