von_neumann_path.h

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#ifndef DLUX_PLUGINS_VON_NEUMANN_PATH_H
#define DLUX_PLUGINS_VON_NEUMANN_PATH_H

#include <dlux_global_planner/traceback.h>

namespace dlux_plugins
{
class VonNeumannPath : public dlux_global_planner::Traceback
{
public:
  // Main Traceback interface
  nav_2d_msgs::Path2D getPath(const dlux_global_planner::PotentialGrid& potential_grid,
                              const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal,
                              double& path_cost) override;
};
}  // namespace dlux_plugins

#endif  // DLUX_PLUGINS_VON_NEUMANN_PATH_H