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 * simple_navigation_server.h 00034 * 00035 * authors: 00036 * Sebastian Pütz <spuetz@uni-osnabrueck.de> 00037 * Jorge Santos Simón <santos@magazino.eu> 00038 * 00039 */ 00040 00041 #ifndef MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ 00042 #define MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ 00043 00044 #include <mbf_abstract_nav/abstract_navigation_server.h> 00045 #include <pluginlib/class_loader.h> 00046 #include <mbf_utility/types.h> 00047 00048 namespace mbf_simple_nav 00049 { 00063 class SimpleNavigationServer : public mbf_abstract_nav::AbstractNavigationServer 00064 { 00065 public: 00066 00071 SimpleNavigationServer(const TFPtr &tf_listener_ptr); 00072 00076 virtual ~SimpleNavigationServer(); 00077 00084 virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string& controller_type); 00085 00092 virtual bool initializeControllerPlugin( 00093 const std::string& name, 00094 const mbf_abstract_core::AbstractController::Ptr& controller_ptr 00095 ); 00096 00102 virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string& planner_type); 00103 00110 virtual bool initializePlannerPlugin( 00111 const std::string& name, 00112 const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr 00113 ); 00114 00120 virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string& recovery_type); 00121 00129 virtual bool initializeRecoveryPlugin( 00130 const std::string& name, 00131 const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr 00132 ); 00133 00134 private: 00135 pluginlib::ClassLoader<mbf_abstract_core::AbstractPlanner> planner_plugin_loader_; 00136 pluginlib::ClassLoader<mbf_abstract_core::AbstractController> controller_plugin_loader_; 00137 pluginlib::ClassLoader<mbf_abstract_core::AbstractRecovery> recovery_plugin_loader_; 00138 }; 00139 00140 } /* namespace mbf_simple_nav */ 00141 00142 #endif /* MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ */