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  /* Author: Ioan Sucan */
  
  #pragma once
  
  #include <moveit/macros/class_forward.h>
  
  namespace planning_scene_monitor
  {
  MOVEIT_CLASS_FORWARD(PlanningSceneMonitor);
  }
  
  namespace planning_pipeline
  {
  MOVEIT_CLASS_FORWARD(PlanningPipeline);
  }
  
  namespace plan_execution
  {
  MOVEIT_CLASS_FORWARD(PlanExecution);
  MOVEIT_CLASS_FORWARD(PlanWithSensing);
  }
  
  namespace trajectory_execution_manager
  {
  MOVEIT_CLASS_FORWARD(TrajectoryExecutionManager);
  }
  
  namespace move_group
  {
  MOVEIT_STRUCT_FORWARD(MoveGroupContext);
  
  struct MoveGroupContext
  {
    MoveGroupContext(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                     bool allow_trajectory_execution = false, bool debug = false);
    ~MoveGroupContext();
  
    bool status() const;
  
    planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
    trajectory_execution_manager::TrajectoryExecutionManagerPtr trajectory_execution_manager_;
    planning_pipeline::PlanningPipelinePtr planning_pipeline_;
    plan_execution::PlanExecutionPtr plan_execution_;
    plan_execution::PlanWithSensingPtr plan_with_sensing_;
    bool allow_trajectory_execution_;
    bool debug_;
  };
  }
  