potential_calculator.h

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#ifndef DLUX_GLOBAL_PLANNER_POTENTIAL_CALCULATOR_H
#define DLUX_GLOBAL_PLANNER_POTENTIAL_CALCULATOR_H

#include <ros/ros.h>
#include <dlux_global_planner/potential.h>
#include <dlux_global_planner/cost_interpreter.h>
#include <geometry_msgs/Pose2D.h>

namespace dlux_global_planner
{
class PotentialCalculator
{
public:
  PotentialCalculator() : cost_interpreter_(nullptr) {}
  virtual ~PotentialCalculator() = default;

  virtual void initialize(ros::NodeHandle& private_nh, nav_core2::Costmap::Ptr costmap,
                          CostInterpreter::Ptr cost_interpreter)
    { cost_interpreter_ = cost_interpreter; }

  virtual unsigned int updatePotentials(PotentialGrid& potential_grid,
                                        const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal) = 0;
protected:
  CostInterpreter::Ptr cost_interpreter_;
};
}  // namespace dlux_global_planner

#endif  // DLUX_GLOBAL_PLANNER_POTENTIAL_CALCULATOR_H