goal_passer.cpp

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* Author: Eitan Marder-Eppstein
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#include <goal_passer/goal_passer.h>
#include <pluginlib/class_list_macros.h>

//register this planner as a BaseGlobalPlanner plugin
PLUGINLIB_DECLARE_CLASS(goal_passer, GoalPasser, goal_passer::GoalPasser, nav_core::BaseGlobalPlanner)

namespace goal_passer {
  void GoalPasser::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){
    costmap_ros_ = costmap_ros;
    costmap_ros_->stop();
  }

  bool GoalPasser::makePlan(const geometry_msgs::PoseStamped& start, 
      const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan){
    plan.clear();
    if(last_goal_.header.stamp == goal.header.stamp && last_goal_.pose.position.x == goal.pose.position.x && last_goal_.pose.position.y == goal.pose.position.y
        && last_goal_.pose.position.z == goal.pose.position.z && last_goal_.pose.orientation.x == goal.pose.orientation.x
        && last_goal_.pose.orientation.y == goal.pose.orientation.y && last_goal_.pose.orientation.z == goal.pose.orientation.z
        && last_goal_.pose.orientation.w == goal.pose.orientation.w){
      return false;
    }

    plan.push_back(goal);
    last_goal_ = goal;

    return true;
  }
};