Program Listing for File trajectory_generator.hpp
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#ifndef DWB_CORE__TRAJECTORY_GENERATOR_HPP_
#define DWB_CORE__TRAJECTORY_GENERATOR_HPP_
#include <vector>
#include <string>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "nav_2d_msgs/msg/twist2_d.hpp"
#include "dwb_msgs/msg/trajectory2_d.hpp"
#include "nav2_util/lifecycle_node.hpp"
namespace dwb_core
{
class TrajectoryGenerator
{
public:
typedef std::shared_ptr<dwb_core::TrajectoryGenerator> Ptr;
virtual ~TrajectoryGenerator() {}
virtual void initialize(
const nav2_util::LifecycleNode::SharedPtr & nh,
const std::string & plugin_name) = 0;
virtual void reset() {}
virtual void startNewIteration(const nav_2d_msgs::msg::Twist2D & current_velocity) = 0;
virtual bool hasMoreTwists() = 0;
virtual nav_2d_msgs::msg::Twist2D nextTwist() = 0;
virtual std::vector<nav_2d_msgs::msg::Twist2D> getTwists(
const nav_2d_msgs::msg::Twist2D & current_velocity)
{
std::vector<nav_2d_msgs::msg::Twist2D> twists;
startNewIteration(current_velocity);
while (hasMoreTwists()) {
twists.push_back(nextTwist());
}
return twists;
}
virtual dwb_msgs::msg::Trajectory2D generateTrajectory(
const geometry_msgs::msg::Pose2D & start_pose,
const nav_2d_msgs::msg::Twist2D & start_vel,
const nav_2d_msgs::msg::Twist2D & cmd_vel) = 0;
virtual void setSpeedLimit(const double & speed_limit, const bool & percentage) = 0;
};
} // namespace dwb_core
#endif // DWB_CORE__TRAJECTORY_GENERATOR_HPP_