Program Listing for File global_planner.hpp
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// Copyright (c) 2019 Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAV2_CORE__GLOBAL_PLANNER_HPP_
#define NAV2_CORE__GLOBAL_PLANNER_HPP_
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "tf2_ros/buffer.h"
#include "nav_msgs/msg/path.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_util/lifecycle_node.hpp"
namespace nav2_core
{
class GlobalPlanner
{
public:
using Ptr = std::shared_ptr<GlobalPlanner>;
virtual ~GlobalPlanner() {}
virtual void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) = 0;
virtual void cleanup() = 0;
virtual void activate() = 0;
virtual void deactivate() = 0;
virtual nav_msgs::msg::Path createPlan(
const geometry_msgs::msg::PoseStamped & start,
const geometry_msgs::msg::PoseStamped & goal) = 0;
};
} // namespace nav2_core
#endif // NAV2_CORE__GLOBAL_PLANNER_HPP_