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  /* Author: Ioan Sucan */
  
  #pragma once
  
  #include <moveit/macros/diagnostics.h>
  DIAGNOSTIC_PUSH
  SILENT_UNUSED_PARAM
  #include <rviz_default_plugins/robot/link_updater.hpp>
  DIAGNOSTIC_POP
  #include <moveit/robot_state/robot_state.h>
  
  namespace moveit_rviz_plugin
  {
  /** \brief Update the links of an rviz::Robot using a robot_state::RobotState */
  class PlanningLinkUpdater : public rviz_default_plugins::robot::LinkUpdater
  {
  public:
    PlanningLinkUpdater(const robot_state::RobotStateConstPtr& state) : kinematic_state_(state)
    {
    }
  
    bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position,
                           Ogre::Quaternion& visual_orientation, Ogre::Vector3& collision_position,
                           Ogre::Quaternion& collision_orientation) const override;
  
  private:
    robot_state::RobotStateConstPtr kinematic_state_;
  };
  }
  