nav_core: nav_core: base_local_planner.h Source File

00001 /*********************************************************************
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00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2008, Willow Garage, Inc.
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef NAV_CORE_BASE_LOCAL_PLANNER_
00038 #define NAV_CORE_BASE_LOCAL_PLANNER_
00039 
00040 #include <geometry_msgs/PoseStamped.h>
00041 #include <geometry_msgs/Twist.h>
00042 #include <costmap_2d/costmap_2d_ros.h>
00043 
00044 namespace nav_core {
00049   class BaseLocalPlanner{
00050     public:
00056       virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0;
00057 
00062       virtual bool isGoalReached() = 0;
00063 
00069       virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0;
00070 
00077       virtual void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;
00078 
00082       virtual ~BaseLocalPlanner(){}
00083 
00084     protected:
00085       BaseLocalPlanner(){}
00086   };
00087 };
00088 
00089 #endif