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 * Software License Agreement (BSD License)
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 * Author: Sachin Chitta
 *********************************************************************/

#pragma once

#include <kinematics_cache/kinematics_cache.h>
#include <planning_models/robot_model.h>
#include <pluginlib/class_loader.hpp>

namespace kinematics_cache_ros
{
class KinematicsCacheROS : public kinematics_cache::KinematicsCache
{
public:
  /** @brief An implementation of a cache for fast kinematics lookups
   *  This class inherits from KinematicsCache and provides an easy way of initializing the cache using ROS
   */
  KinematicsCacheROS(){};

  /** @brief Initialization function
   *  @param opt A set of options for setting up the cache
   */
  bool init(const kinematics_cache::KinematicsCache::Options& opt, const std::string& kinematics_solver_name,
            const std::string& group_name, const std::string& base_frame, const std::string& tip_frame,
            double search_discretization);

private:
  kinematics::KinematicsBase* kinematics_solver_; /** An instance of a kinematics solver needed by this class */

  std::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> > kinematics_loader_; /** A loader needed to load
                                                                                              the instance of a
                                                                                              kinematics solver */

  planning_models::RobotModelPtr kinematic_model_; /** A kinematics model */
};
}  // namespace kinematics_cache_ros
