trajectory_sample_generator.h

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#ifndef TRAJECTORY_SAMPLE_GENERATOR_H_
#define TRAJECTORY_SAMPLE_GENERATOR_H_

#include <base_local_planner/trajectory.h>

namespace base_local_planner {

class TrajectorySampleGenerator {
public:

  virtual bool hasMoreTrajectories() = 0;

  virtual bool nextTrajectory(Trajectory &traj) = 0;

  virtual ~TrajectorySampleGenerator() {}

protected:
  TrajectorySampleGenerator() {}

};

} // end namespace

#endif /* TRAJECTORY_SAMPLE_GENERATOR_H_ */