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

#pragma once

// System
#include <boost/shared_ptr.hpp>

// ROS msgs
#include <geometry_msgs/PoseStamped.h>

// MoveIt
#include <moveit_msgs/MoveItErrorCodes.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>

namespace kinematics_constraint_aware
{
/** A kinematics request */
class KinematicsRequest
{
public:
  KinematicsRequest()
  {
  }

  virtual ~KinematicsRequest(){};

  std::vector<geometry_msgs::PoseStamped> pose_stamped_vector_;

  std::vector<std::string> ik_link_names_;

  moveit::core::RobotStatePtr robot_state_;

  kinematic_constraints::KinematicConstraintSetPtr constraints_;

  ros::Duration timeout_;

  std::string group_name_;

  bool check_for_collisions_;

  moveit::core::StateValidityCallbackFn constraint_callback_;
};

/** A kinematics response */
class KinematicsResponse
{
public:
  KinematicsResponse()
  {
  }

  virtual ~KinematicsResponse(){};

  moveit::core::RobotStatePtr solution_;

  std::vector<kinematic_constraints::ConstraintEvaluationResult> constraint_eval_results_;

  collision_detection::CollisionResult collision_result_;

  moveit_msgs::MoveItErrorCodes error_code_;

  bool result_;
};
}  // namespace kinematics_constraint_aware
