/home/slemaign/softs-local/BioMove3D-git/lightPlanner/proto/ManipulationViaConfPlanner.hpp

#ifndef __MANIPULATIONVIACONFPLANNER_HPP__
#define __MANIPULATIONVIACONFPLANNER_HPP__

#include "P3d-pkg.h"
#include "Localpath-pkg.h"

#include "ManipulationPlanner.hpp"

class  ManipulationViaConfPlanner: public ManipulationPlanner {
  public:
  /* ******************************* */
  /* ******* (Con)Destructor ******* */
  /* ******************************* */
  ManipulationViaConfPlanner(p3d_rob * robot);
  virtual ~ManipulationViaConfPlanner();
  /* ******************************* */
  /* *********** Methods *********** */
  /* ******************************* */
  MANIPULATION_TASK_MESSAGE planTrajFromConfigArrayInRobotTheForm(std::vector<SM_TRAJ> &smTrajs);


   private:
    p3d_rob * _robot;
};
#endif