Added new profile dictionaries to planner request

tesseract-robotics · Jan 16, 2023 · a97babc · a97babc
1 parent cb855ad
commit a97babc
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/tesseract_motion_planners/core/include/tesseract_motion_planners/core/types.h b/tesseract_motion_planners/core/include/tesseract_motion_planners/core/types.h
@@ -32,6 +32,8 @@
 #include <tesseract_command_language/composite_instruction.h>
 #include <tesseract_command_language/profile_dictionary.h>
 
+#include <tesseract_motion_planners/core/profile_dictionary.h>
+
 namespace tesseract_planning
 {
 struct PlannerRequest
@@ -52,6 +54,10 @@ struct PlannerRequest
   /** @brief The profile dictionary */
   ProfileDictionary::ConstPtr profiles{ std::make_shared<ProfileDictionary>() };
 
+  tmp::WaypointProfileDictionary::ConstPtr waypoint_profiles{ std::make_shared<tmp::WaypointProfileDictionary>() };
+  tmp::CompositeProfileDictionary::ConstPtr composite_profiles{ std::make_shared<tmp::CompositeProfileDictionary>() };
+  tmp::PlannerProfileDictionary::ConstPtr planner_profiles{ std::make_shared<tmp::PlannerProfileDictionary>() };
+
   /**
    * @brief The program instruction
    * This must contain a minimum of two move instruction the first move instruction is the start state