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#include <ros/ros.h>

#include <planning_interface/planning_interface.h>
#include <planning_scene/planning_scene.h>
#include <planning_models/robot_model.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <sbpl_interface/sbpl_meta_interface.h>

#include <pluginlib/class_list_macros.hpp>

namespace sbpl_interface_ros
{
class SBPLMetaPlanner : public planning_interface::Planner
{
public:
  void init(const planning_models::RobotModelConstPtr& model)
  {
    ros::NodeHandle nh;
    // display_bfs_publisher_ = nh.advertise<visualization_msgs::Marker>("planning_components_visualization", 10, true);
    sbpl_meta_interface_ = std::make_shared<sbpl_interface::SBPLMetaInterface>(model);
  }

  bool canServiceRequest(const moveit_msgs::GetMotionPlan::Request& req,
                         planning_interface::PlannerCapability& capabilities) const
  {
    // TODO: this is a dummy implementation
    //      capabilities.dummy = false;
    return true;
  }

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::GetMotionPlan::Response& res) const
  {
    bool solve_ok = sbpl_meta_interface_->solve(planning_scene, req, res);
    return solve_ok;
  }

  bool solve(const planning_scene::PlanningSceneConstPtr& planning_scene,
             const moveit_msgs::GetMotionPlan::Request& req, moveit_msgs::MotionPlanDetailedResponse& res) const
  {
    moveit_msgs::GetMotionPlan::Response res2;
    if (sbpl_meta_interface_->solve(planning_scene, req, res2))
    {
      res.trajectory_start = res2.trajectory_start;
      res.trajectory.push_back(res2.trajectory);
      res.description.push_back("plan");
      res.processing_time.push_back(res2.planning_time);
      return true;
    }
    else
      return false;
  }

  std::string getDescription() const
  {
    return "SBPLMeta";
  }

  void getPlanningAlgorithms(std::vector<std::string>& algs) const
  {
    algs.resize(1);
    algs[0] = "SBPLMeta";
  }

  void terminate() const
  {
    // TODO - make interruptible
  }

private:
  ros::Publisher display_bfs_publisher_;
  boost::shared_ptr<sbpl_interface::SBPLMetaInterface> sbpl_meta_interface_;
};

}  // namespace sbpl_interface_ros

PLUGINLIB_EXPORT_CLASS(sbpl_interface_ros::SBPLMetaPlanner, planning_interface::Planner);
