collvoid_simple_global_planner.h

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* Author: Daniel Claes
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#ifndef COLLVOID_SIMPLE_GLOBAL_PLANNER_H_
#define COLLVOID_SIMPLE_GLOBAL_PLANNER_H_
#include <ros/ros.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <costmap_2d/costmap_2d.h>
#include <nav_core/base_global_planner.h>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Point.h>


namespace collvoid_simple_global_planner{
  class CollvoidSimpleGlobalPlanner : public nav_core::BaseGlobalPlanner {
    public:
      CollvoidSimpleGlobalPlanner();
      CollvoidSimpleGlobalPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
      void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
      bool makePlan(const geometry_msgs::PoseStamped& start, 
          const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
  };
};  
#endif