abstract_planner.h
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2  * Copyright 2018, Sebastian Pütz
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33  * abstract_planner.h
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35  * author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
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38 
39 #ifndef MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_
40 #define MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_
41 
42 #include <vector>
43 #include <string>
44 #include <stdint.h>
45 #include <boost/shared_ptr.hpp>
46 #include <geometry_msgs/PoseStamped.h>
47 
48 namespace mbf_abstract_core
49 {
50 
52 
53  public:
55 
59  virtual ~AbstractPlanner(){};
60 
86  virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal,
87  double tolerance, std::vector<geometry_msgs::PoseStamped> &plan, double &cost,
88  std::string &message) = 0;
89 
94  virtual bool cancel() = 0;
95 
96  protected:
101  };
102 } /* namespace mbf_abstract_core */
103 
104 #endif /* MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_ */
virtual bool cancel()=0
Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)=0
Given a goal pose in the world, compute a plan.
boost::shared_ptr< ::mbf_abstract_core::AbstractPlanner > Ptr
virtual ~AbstractPlanner()
Destructor.


mbf_abstract_core
Author(s): Sebastian Pütz , Jorge Santos
autogenerated on Fri Nov 6 2020 03:56:20