nav_core: nav_core: recovery_behavior.h Source File

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00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef NAV_CORE_RECOVERY_BEHAVIOR_H_
00038 #define NAV_CORE_RECOVERY_BEHAVIOR_H_
00039 #include <costmap_2d/costmap_2d_ros.h>
00040 namespace nav_core {
00045   class RecoveryBehavior{
00046     public:
00053       virtual void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap) = 0;
00054 
00058       virtual void runBehavior() = 0;
00059 
00063       virtual ~RecoveryBehavior(){}
00064 
00065     protected:
00066       RecoveryBehavior(){}
00067   };
00068 };
00069 #endif