// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*****************************************************************************************************************
 *
 * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 *****************************************************************************************************************/

#pragma once

#include <map>
#include <string>
#include "cb_move_joints.hpp"

namespace cl_moveit2z
{
class CbMoveKnownState : public CbMoveJoints
{
public:
  CbMoveKnownState(std::string pkg, std::string config_path);
  virtual ~CbMoveKnownState();

  void onEntry() override;

private:
  std::map<std::string, double> loadJointStatesFromFile(std::string pkg, std::string filepath);

  std::string pkg_;
  std::string config_path_;
};
}  // namespace cl_moveit2z
