drop.hpp

#ifndef DROP_HPP
#define DROP_HPP

#include "manipulationTask.hpp"
#include "Planner-pkg.h"
#include "place.hpp"


class Drop : public Place
{
    MOVE3D_STATIC_LOGGER;
public:
    Drop();

    bool findCandidateSolutions();
    bool getRandomSol();

    std::string getTextFromValues();

    bool findConfigurations();

    bool findTrajectories();

    bool computeSolutionTrajectories(TaskSolution *TS);
//    bool setToSolution(int solutionId, bool computeMP);
    TaskSolution *createSolution(bool computeMP);

private:
    confPtr_t _dropConf;
    WorldStateFacts *_WSF;

};



#endif // DROP_HPP