rotate_recovery.h

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* Author: Eitan Marder-Eppstein
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#ifndef ROTATE_RECOVERY_H_
#define ROTATE_RECOVERY_H_
#include <nav_core/recovery_behavior.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf/transform_listener.h>
#include <ros/ros.h>
#include <base_local_planner/costmap_model.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <angles/angles.h>

namespace rotate_recovery{
  class RotateRecovery : public nav_core::RecoveryBehavior {
    public:
      RotateRecovery();

      void initialize(std::string name, tf::TransformListener* tf, 
          costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap);

      void runBehavior();

      ~RotateRecovery();

    private:
      costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_;
      costmap_2d::Costmap2D costmap_;
      std::string name_;
      tf::TransformListener* tf_;
      bool initialized_;
      double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_;
      base_local_planner::CostmapModel* world_model_;
  };
};
#endif