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 * wrapper_global_planner.cpp 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__WRAPPER_GLOBAL_PLANNER_H_ 00042 #define MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_ 00043 00044 #include <nav_core/base_global_planner.h> 00045 #include "mbf_costmap_core/costmap_planner.h" 00046 00047 namespace mbf_nav_core_wrapper { 00054 class WrapperGlobalPlanner : public mbf_costmap_core::CostmapPlanner{ 00055 public: 00056 00069 virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, 00070 double tolerance, std::vector<geometry_msgs::PoseStamped> &plan, double &cost, 00071 std::string &message); 00072 00078 virtual bool cancel(); 00079 00085 virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros); 00086 00091 WrapperGlobalPlanner(boost::shared_ptr< nav_core::BaseGlobalPlanner > plugin); 00092 00096 virtual ~WrapperGlobalPlanner(); 00097 00098 private: 00099 boost::shared_ptr< nav_core::BaseGlobalPlanner > nav_core_plugin_; 00100 }; 00101 } /* namespace mbf_nav_core_wrapper */ 00102 00103 #endif /* MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_ */