nav_core: base_global_planner.h Source File

00001 /*********************************************************************
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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_GLOBAL_PLANNER_
00038 #define NAV_CORE_BASE_GLOBAL_PLANNER_
00039 
00040 #include <geometry_msgs/PoseStamped.h>
00041 #include <costmap_2d/costmap_2d_ros.h>
00042 
00043 namespace nav_core {
00048   class BaseGlobalPlanner{
00049     public:
00057       virtual bool makePlan(const geometry_msgs::PoseStamped& start, 
00058           const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0;
00059 
00065       virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0;
00066 
00070       virtual ~BaseGlobalPlanner(){}
00071 
00072     protected:
00073       BaseGlobalPlanner(){}
00074   };
00075 };
00076 
00077 #endif