00001 /* 00002 * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions 00006 * are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 00016 * 3. Neither the name of the copyright holder nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 * 00033 * costmap_planner_execution.h 00034 * 00035 * authors: 00036 * Sebastian Pütz <spuetz@uni-osnabrueck.de> 00037 * Jorge Santos Simón <santos@magazino.eu> 00038 * 00039 */ 00040 00041 #ifndef MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_ 00042 #define MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_ 00043 00044 #include <mbf_abstract_nav/abstract_planner_execution.h> 00045 #include <mbf_costmap_nav/MoveBaseFlexConfig.h> 00046 #include <mbf_costmap_core/costmap_planner.h> 00047 #include <costmap_2d/costmap_2d_ros.h> 00048 00049 namespace mbf_costmap_nav 00050 { 00057 class CostmapPlannerExecution : public mbf_abstract_nav::AbstractPlannerExecution 00058 { 00059 public: 00060 typedef boost::shared_ptr<costmap_2d::Costmap2DROS> CostmapPtr; 00061 00067 CostmapPlannerExecution( 00068 const std::string name, 00069 const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr, 00070 CostmapPtr &costmap, 00071 const MoveBaseFlexConfig &config, 00072 boost::function<void()> setup_fn, 00073 boost::function<void()> cleanup_fn); 00074 00078 virtual ~CostmapPlannerExecution(); 00079 00080 private: 00081 00082 mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config); 00083 00095 virtual uint32_t makePlan( 00096 const geometry_msgs::PoseStamped &start, 00097 const geometry_msgs::PoseStamped &goal, 00098 double tolerance, 00099 std::vector<geometry_msgs::PoseStamped> &plan, 00100 double &cost, 00101 std::string &message); 00102 00104 CostmapPtr &costmap_ptr_; 00105 00107 bool lock_costmap_; 00108 00110 std::string planner_name_; 00111 }; 00112 00113 } /* namespace mbf_costmap_nav */ 00114 00115 #endif /* MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_ */