wrapper_local_planner.h

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/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  wrapper_local_planner.cpp
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_COSTMAP_NAV__WRAPPER_LOCAL_PLANNER_H_
#define MBF_COSTMAP_NAV__WRAPPER_LOCAL_PLANNER_H_

#include <nav_core/base_local_planner.h>
#include "mbf_costmap_core/costmap_controller.h"

#include <mbf_utility/types.h>

namespace mbf_nav_core_wrapper {
  class WrapperLocalPlanner : public mbf_costmap_core::CostmapController{
    public:

      virtual uint32_t computeVelocityCommands(
          const geometry_msgs::PoseStamped& robot_pose,
          const geometry_msgs::TwistStamped& robot_velocity,
          geometry_msgs::TwistStamped &cmd_vel,
          std::string &message);

      virtual bool isGoalReached();

      virtual bool isGoalReached(double xy_tolerance, double yaw_tolerance);

      virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped> &plan);

      virtual bool cancel();

      virtual void initialize(std::string name, TF *tf, costmap_2d::Costmap2DROS *costmap_ros);

      WrapperLocalPlanner(boost::shared_ptr< nav_core::BaseLocalPlanner >plugin);

      virtual ~WrapperLocalPlanner();

    private:
      boost::shared_ptr< nav_core::BaseLocalPlanner > nav_core_plugin_;
  };
}  /* namespace mbf_nav_core_wrapper */

#endif  /* MBF_COSTMAP_NAV__WRAPPER_LOCAL_PLANNER_H_ */