local_planner.h
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34 #ifndef NAV_CORE2_LOCAL_PLANNER_H
35 #define NAV_CORE2_LOCAL_PLANNER_H
36 
37 #include <nav_core2/common.h>
38 #include <nav_core2/costmap.h>
39 #include <nav_2d_msgs/Path2D.h>
40 #include <nav_2d_msgs/Pose2DStamped.h>
41 #include <nav_2d_msgs/Twist2D.h>
42 #include <nav_2d_msgs/Twist2DStamped.h>
43 #include <string>
44 
45 namespace nav_core2
46 {
47 
53 {
54 public:
58  virtual ~LocalPlanner() {}
59 
71  virtual void initialize(const ros::NodeHandle& parent, const std::string& name,
72  TFListenerPtr tf, Costmap::Ptr costmap) = 0;
73 
78  virtual void setGoalPose(const nav_2d_msgs::Pose2DStamped& goal_pose) = 0;
79 
85  virtual void setPlan(const nav_2d_msgs::Path2D& path) = 0;
86 
97  virtual nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose,
98  const nav_2d_msgs::Twist2D& velocity) = 0;
99 
109  virtual bool isGoalReached(const nav_2d_msgs::Pose2DStamped& pose, const nav_2d_msgs::Twist2D& velocity) = 0;
110 };
111 } // namespace nav_core2
112 
113 #endif // NAV_CORE2_LOCAL_PLANNER_H
virtual void setPlan(const nav_2d_msgs::Path2D &path)=0
Sets the global plan for this local planner.
virtual nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity)=0
Compute the best command given the current pose, velocity and goal.
virtual ~LocalPlanner()
Virtual Destructor.
Definition: local_planner.h:58
virtual void setGoalPose(const nav_2d_msgs::Pose2DStamped &goal_pose)=0
Sets the global goal for this local planner.
virtual void initialize(const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, Costmap::Ptr costmap)=0
Constructs the local planner.
virtual bool isGoalReached(const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity)=0
Check to see whether the robot has reached its goal.
std::shared_ptr< Costmap > Ptr
Definition: costmap.h:55
std::shared_ptr< tf::TransformListener > TFListenerPtr
Definition: common.h:40
Provides an interface for local planners used in navigation.
Definition: local_planner.h:52


nav_core2
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autogenerated on Wed Jun 26 2019 20:06:06