goal_passer.cpp
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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
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <pr2_navigation_controllers/goal_passer.h>
00038 #include <pluginlib/class_list_macros.h>
00039 
00040 //register this planner as a BaseGlobalPlanner plugin
00041 PLUGINLIB_EXPORT_CLASS(pr2_navigation_controllers::GoalPasser, nav_core::BaseGlobalPlanner)
00042 
00043 namespace pr2_navigation_controllers {
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 };


pr2_navigation_controllers
Author(s): Ported by Adam Leeper, originally by Eitan Marder-Eppstein
autogenerated on Mon Oct 6 2014 12:43:53