goal_passer.cpp
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #include <goal_passer/goal_passer.h> 00038 #include <pluginlib/class_list_macros.h> 00039 00040 //register this planner as a BaseGlobalPlanner plugin 00041 PLUGINLIB_DECLARE_CLASS(goal_passer, GoalPasser, goal_passer::GoalPasser, nav_core::BaseGlobalPlanner) 00042 00043 namespace goal_passer { 00044 void GoalPasser::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){ 00045 costmap_ros_ = costmap_ros; 00046 costmap_ros_->stop(); 00047 } 00048 00049 bool GoalPasser::makePlan(const geometry_msgs::PoseStamped& start, 00050 const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan){ 00051 plan.clear(); 00052 if(last_goal_.header.stamp == goal.header.stamp && last_goal_.pose.position.x == goal.pose.position.x && last_goal_.pose.position.y == goal.pose.position.y 00053 && last_goal_.pose.position.z == goal.pose.position.z && last_goal_.pose.orientation.x == goal.pose.orientation.x 00054 && last_goal_.pose.orientation.y == goal.pose.orientation.y && last_goal_.pose.orientation.z == goal.pose.orientation.z 00055 && last_goal_.pose.orientation.w == goal.pose.orientation.w){ 00056 return false; 00057 } 00058 00059 plan.push_back(goal); 00060 last_goal_ = goal; 00061 00062 return true; 00063 } 00064 };