potential_calculator.h
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34 
35 #ifndef DLUX_GLOBAL_PLANNER_POTENTIAL_CALCULATOR_H
36 #define DLUX_GLOBAL_PLANNER_POTENTIAL_CALCULATOR_H
37 
38 #include <ros/ros.h>
41 #include <geometry_msgs/Pose2D.h>
42 
43 namespace dlux_global_planner
44 {
53 {
54 public:
56  virtual ~PotentialCalculator() = default;
57 
67  virtual void initialize(ros::NodeHandle& private_nh, nav_core2::Costmap::Ptr costmap,
68  CostInterpreter::Ptr cost_interpreter)
69  { cost_interpreter_ = cost_interpreter; }
70 
79  virtual unsigned int updatePotentials(PotentialGrid& potential_grid,
80  const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal) = 0;
81 protected:
83 };
84 } // namespace dlux_global_planner
85 
86 #endif // DLUX_GLOBAL_PLANNER_POTENTIAL_CALCULATOR_H
virtual void initialize(ros::NodeHandle &private_nh, nav_core2::Costmap::Ptr costmap, CostInterpreter::Ptr cost_interpreter)
Initialize function.
virtual unsigned int updatePotentials(PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal)=0
Main potential calculation function.
std::shared_ptr< CostInterpreter > Ptr
Plugin interface for calculating a numerical score (potential) for some subset of the cells in the co...
std::shared_ptr< Costmap > Ptr


dlux_global_planner
Author(s):
autogenerated on Wed Jun 26 2019 20:06:30