goal_checker.h

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#ifndef DWB_LOCAL_PLANNER_GOAL_CHECKER_H
#define DWB_LOCAL_PLANNER_GOAL_CHECKER_H
 
#include <ros/ros.h>
#include <geometry_msgs/Pose2D.h>
#include <nav_2d_msgs/Twist2D.h>
#include <memory>
 
namespace dwb_local_planner
{
 
class GoalChecker
{
public:
  using Ptr = std::shared_ptr<dwb_local_planner::GoalChecker>;
 
  virtual ~GoalChecker() {}
 
  virtual void initialize(const ros::NodeHandle& nh) = 0;
 
  virtual void reset() {}
 
  virtual bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose,
                             const nav_2d_msgs::Twist2D& velocity) = 0;
};
 
}  // namespace dwb_local_planner
 
#endif  // DWB_LOCAL_PLANNER_GOAL_CHECKER_H