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#include "pilz_industrial_motion_planner/planning_context_loader_lin.h"
#include "moveit/planning_scene/planning_scene.h"
#include "pilz_industrial_motion_planner/planning_context_base.h"
#include "pilz_industrial_motion_planner/planning_context_lin.h"

#include <pluginlib/class_list_macros.hpp>

pilz_industrial_motion_planner::PlanningContextLoaderLIN::PlanningContextLoaderLIN()
{
  alg_ = "LIN";
}

pilz_industrial_motion_planner::PlanningContextLoaderLIN::~PlanningContextLoaderLIN()
{
}

bool pilz_industrial_motion_planner::PlanningContextLoaderLIN::loadContext(
    planning_interface::PlanningContextPtr& planning_context, const std::string& name, const std::string& group) const
{
  if (limits_set_ && model_set_)
  {
    planning_context = std::make_shared<PlanningContextLIN>(name, group, model_, limits_);
    return true;
  }
  else
  {
    if (!limits_set_)
    {
      ROS_ERROR_STREAM("Limits are not defined. Cannot load planning context. "
                       "Call setLimits loadContext");
    }
    if (!model_set_)
    {
      ROS_ERROR_STREAM("Robot model was not set");
    }
    return false;
  }
}

PLUGINLIB_EXPORT_CLASS(pilz_industrial_motion_planner::PlanningContextLoaderLIN,
                       pilz_industrial_motion_planner::PlanningContextLoader)
