planner_interface.h

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 * Author: Christoph Rösmann
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#ifndef PLANNER_INTERFACE_H_
#define PLANNER_INTERFACE_H_
 
// boost
#include <boost/shared_ptr.hpp>
 
// ros
#include <tf/transform_datatypes.h>
#include <base_local_planner/costmap_model.h>
 
// this package
#include <teb_local_planner/pose_se2.h>
#include <teb_local_planner/robot_footprint_model.h>
 
// messages
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/TwistStamped.h>
 
 
namespace teb_local_planner
{
 
 
class PlannerInterface
{
public:
 
  PlannerInterface()
  {
  }  
  virtual ~PlannerInterface()
  {
  }
    
  
  
  virtual bool plan(const std::vector<geometry_msgs::PoseStamped>& initial_plan, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false) = 0;
  
  virtual bool plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false) = 0;
  
  virtual bool plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false) = 0;
  
  virtual bool getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const = 0;
  
  
  
  virtual void clearPlanner() = 0;
  
  virtual void setPreferredTurningDir(RotType dir) {ROS_WARN("setPreferredTurningDir() not implemented for this planner.");}
    
  virtual void visualize()
  {
  }
  
  virtual void updateRobotModel(RobotFootprintModelPtr robot_model)
  {
  }
 
  virtual bool isTrajectoryFeasible(base_local_planner::CostmapModel* costmap_model, const std::vector<geometry_msgs::Point>& footprint_spec,
        double inscribed_radius = 0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1, double feasibility_check_lookahead_distance=-1.0) = 0;
    
  virtual void computeCurrentCost(std::vector<double>& cost, double obst_cost_scale=1.0, bool alternative_time_cost=false)
  {
  }
 
  virtual bool hasDiverged() const = 0;
                
};
 
typedef boost::shared_ptr<PlannerInterface> PlannerInterfacePtr;
 
 
} // namespace teb_local_planner
 
#endif /* PLANNER_INTERFACE_H__ */