goal_passer.cpp

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* Author: Eitan Marder-Eppstein
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#include <goal_passer/goal_passer.h>
#include <pluginlib/class_list_macros.hpp>

//register this planner as a BaseGlobalPlanner plugin
PLUGINLIB_EXPORT_CLASS(goal_passer::GoalPasser, nav_core::BaseGlobalPlanner)

namespace goal_passer {
  bool GoalPasser::makePlan(const geometry_msgs::PoseStamped& start, 
      const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan){
    plan.clear();
    plan.push_back(goal);
    return true;
  }
};