velocity_iterator.h

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#ifndef DWB_PLUGINS_VELOCITY_ITERATOR_H
#define DWB_PLUGINS_VELOCITY_ITERATOR_H
 
#include <ros/ros.h>
#include <nav_2d_msgs/Twist2D.h>
#include <dwb_plugins/kinematic_parameters.h>
 
namespace dwb_plugins
{
class VelocityIterator
{
public:
  virtual ~VelocityIterator() {}
  virtual void initialize(ros::NodeHandle& nh, KinematicParameters::Ptr kinematics) = 0;
  virtual void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity, double dt) = 0;
  virtual bool hasMoreTwists() = 0;
  virtual nav_2d_msgs::Twist2D nextTwist() = 0;
};
}  // namespace dwb_plugins
 
#endif  // DWB_PLUGINS_VELOCITY_ITERATOR_H