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  /* Authors: Robert Haschke
     Desc:    Generator Stage spawning a pre-defined, fixed planning scene state
  */
  
  #pragma once
  
  #include <moveit/task_constructor/stage.h>
  
  namespace moveit {
  namespace task_constructor {
  namespace stages {
  
  /** Spawn a pre-defined PlanningScene state */
  class FixedState : public Generator
  {
  public:
  	FixedState(const std::string& name = "initial state");
  	void setState(const planning_scene::PlanningScenePtr& scene);
  
  	void reset() override;
  	bool canCompute() const override;
  	void compute() override;
  
  protected:
  	planning_scene::PlanningScenePtr scene_;
  	bool ran_ = false;
  };
  }
  }
  }
  