path_planning_algorithm.hpp

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#ifndef RAM_PATH_PLANNING_PATH_PLANNING_ALGORITHM_HPP
#define RAM_PATH_PLANNING_PATH_PLANNING_ALGORITHM_HPP

#include <ros/ros.h>
#include <actionlib/server/action_server.h>

namespace ram_path_planning
{
template<class ActionSpec>
  class PathPlanningAlgorithm
  {
  public:
    PathPlanningAlgorithm(const std::string name,
                          const std::string description,
                          const std::string service_name);

    virtual ~PathPlanningAlgorithm()=0;

    bool publishPercentageDone(const unsigned percentage,
                               actionlib::ServerGoalHandle<ActionSpec> &gh);

    bool publishStatusDone(const std::string progress_msg,
                           actionlib::ServerGoalHandle<ActionSpec> &gh);

    bool publishStatusPercentageDone(const std::string progress_msg,
                                     const unsigned percentage,
                                     actionlib::ServerGoalHandle<ActionSpec> &gh);

    const std::string name_;
    const std::string description_;
    const std::string service_name_;
  };

}

//include the implementation
#include <ram_path_planning/path_planning_algorithm_imp.hpp>
#endif