base_local_planner.h

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* Author: Eitan Marder-Eppstein
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#ifndef NAV_CORE_BASE_LOCAL_PLANNER_H
#define NAV_CORE_BASE_LOCAL_PLANNER_H
 
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf2_ros/buffer.h>
 
namespace nav_core {
  class BaseLocalPlanner{
    public:
      virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0;
 
      virtual bool isGoalReached() = 0;
 
      virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0;
 
      virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;
 
      virtual ~BaseLocalPlanner(){}
 
    protected:
      BaseLocalPlanner(){}
  };
};  // namespace nav_core
 
#endif  // NAV_CORE_BASE_LOCAL_PLANNER_H