simple_navigation_server.h

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/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  simple_navigation_server.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_
#define MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_

#include <mbf_abstract_nav/abstract_navigation_server.h>
#include <pluginlib/class_loader.h>
#include <mbf_utility/types.h>

namespace mbf_simple_nav
{
class SimpleNavigationServer : public mbf_abstract_nav::AbstractNavigationServer
{
public:

  SimpleNavigationServer(const TFPtr &tf_listener_ptr);

  virtual ~SimpleNavigationServer();

  virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string& controller_type);

  virtual bool initializeControllerPlugin(
      const std::string& name,
      const mbf_abstract_core::AbstractController::Ptr& controller_ptr
  );

  virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string& planner_type);

  virtual bool initializePlannerPlugin(
      const std::string& name,
      const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr
  );

  virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string& recovery_type);

  virtual bool initializeRecoveryPlugin(
      const std::string& name,
      const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr
  );

 private:
  pluginlib::ClassLoader<mbf_abstract_core::AbstractPlanner> planner_plugin_loader_;
  pluginlib::ClassLoader<mbf_abstract_core::AbstractController> controller_plugin_loader_;
  pluginlib::ClassLoader<mbf_abstract_core::AbstractRecovery> recovery_plugin_loader_;
};

} /* namespace mbf_simple_nav */

#endif /* MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ */