22 #ifndef _PLUGINS_STN_GENERATOR_THREAD_H_
23 #define _PLUGINS_STN_GENERATOR_THREAD_H_
27 #include <aspect/blackboard.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <blackboard/interface_listener.h>
31 #include <core/threading/thread.h>
32 #include <interfaces/PddlPlannerInterface.h>
33 #include <plugins/robot-memory/aspect/robot_memory_aspect.h>
64 std::string cfg_plan_collection_;
65 bool cfg_publish_to_robot_memory_;
67 size_t num_published_actions_ = 0;
68 std::string cfg_output_collection_;
69 std::string cfg_pddl_problem_path_;
70 fawkes::PddlPlannerInterface *plan_if_;