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I found the example code on MoveIt! tutorials website.

void move_robot (moveit::planning_interface::MoveGroupInterface &group, geometry_msgs::PoseStamped Pose)
{
  group.setStartState(*group.getCurrentState());
  group.setPoseTarget(Pose);

  moveit::planning_interface::MoveGroupInterface::Plan group_Planer;
  bool success = (group.plan(group_Planer) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
  if (success)
  {
    ros::Duration(1).sleep();
    group.execute(group_Planer);
  }
  group.clearPoseTargets();
  ros::Duration(1).sleep();
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "move");
  ros::NodeHandle nh;

  ros::AsyncSpinner spinner(1);
  spinner.start();

  moveit::planning_interface::MoveGroupInterface group("manipulator");
  move_robot(group, pose1);
  move_robot(group, pose2);
  move_robot(group, pose3);

  return 0;
}