local_planner_util.h

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 * Author: Eitan Marder-Eppstein
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#ifndef ABSTRACT_LOCAL_PLANNER_ODOM_H_
#define ABSTRACT_LOCAL_PLANNER_ODOM_H_
 
#include <nav_core/base_local_planner.h>
 
#include <boost/thread.hpp>
 
#include <costmap_2d/costmap_2d.h>
#include <tf2_ros/buffer.h>
 
#include <base_local_planner/local_planner_limits.h>
 
 
namespace base_local_planner {
 
class LocalPlannerUtil {
 
private:
  // things we get from move_base
  std::string name_;
  std::string global_frame_;
 
  costmap_2d::Costmap2D* costmap_;
  tf2_ros::Buffer* tf_;
 
 
  std::vector<geometry_msgs::PoseStamped> global_plan_;
 
 
  boost::mutex limits_configuration_mutex_;
  bool setup_;
  LocalPlannerLimits default_limits_;
  LocalPlannerLimits limits_;
  bool initialized_;
 
public:
 
  void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults);
 
  LocalPlannerUtil() : initialized_(false) {}
 
  ~LocalPlannerUtil() {
  }
 
  void initialize(tf2_ros::Buffer* tf,
      costmap_2d::Costmap2D* costmap,
      std::string global_frame);
 
  bool getGoal(geometry_msgs::PoseStamped& goal_pose);
 
  bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
 
  bool getLocalPlan(const geometry_msgs::PoseStamped& global_pose, std::vector<geometry_msgs::PoseStamped>& transformed_plan);
 
  costmap_2d::Costmap2D* getCostmap();
 
  LocalPlannerLimits getCurrentLimits();
 
  std::string getGlobalFrame(){ return global_frame_; }
};
 
 
 
 
};
 
#endif /* ABSTRACT_LOCAL_PLANNER_ODOM_H_ */