hector_exploration_base_global_planner_plugin.cpp
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2 // Copyright (c) 2012, Mark Sollweck, Stefan Kohlbrecher, TU Darmstadt
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4 
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28 
30 
32 
33 using namespace hector_exploration_planner;
34 
35 
37 {
39 }
40 
42 {
43  delete exploration_planner;
44 }
45 
46 bool HectorExplorationBaseGlobalPlannerPlugin::makePlan(const geometry_msgs::PoseStamped& start,
47  const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan)
48 {
49  return exploration_planner->makePlan(start, goal, plan);
50 }
51 
53 {
54  exploration_planner->initialize(name, costmap_ros);
55 }
PLUGINLIB_EXPORT_CLASS(hector_exploration_planner::HectorExplorationBaseGlobalPlannerPlugin, nav_core::BaseGlobalPlanner)
virtual bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)
virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)
bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &original_goal, std::vector< geometry_msgs::PoseStamped > &plan)


hector_exploration_planner
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autogenerated on Mon Jun 10 2019 13:34:41