costmap_recovery.h
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1 /*
2  * Copyright 2018, Sebastian Pütz
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33  * abstract_global_planner.h
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35  * author: Sebastian Pütz <spuetz@uniosnabrueck.de>
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38 
39 #ifndef MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_
40 #define MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_
41 
44 #include <mbf_utility/types.h>
45 
46 namespace mbf_costmap_core
47 {
55  public:
56 
58 
65  virtual void initialize(std::string name, TF* tf,
66  costmap_2d::Costmap2DROS* global_costmap,
67  costmap_2d::Costmap2DROS* local_costmap) = 0;
68 
74  virtual uint32_t runBehavior(std::string& message) = 0;
75 
81  virtual bool cancel() = 0;
82 
86  virtual ~CostmapRecovery(){}
87 
88  protected:
90 
91 };
92 } /* namespace mbf_costmap_core */
93 
94 #endif /* MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_ */
virtual void initialize(std::string name, TF *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)=0
Initialization function for the CostmapRecovery.
Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to wo...
virtual uint32_t runBehavior(std::string &message)=0
Runs the CostmapRecovery.
boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery > Ptr
virtual bool cancel()=0
Requests the planner to cancel, e.g. if it takes too much time.
virtual ~CostmapRecovery()
Virtual destructor for the interface.


mbf_costmap_core
Author(s): Jorge Santos , Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:27