wrapper_recovery_behavior.cpp
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
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33  * wrapper_recovery_behavior.cpp
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #include <mbf_msgs/RecoveryResult.h>
43 
44 namespace mbf_nav_core_wrapper
45 {
46 void WrapperRecoveryBehavior::initialize(std::string name, TF *tf,
47  costmap_2d::Costmap2DROS *global_costmap,
48  costmap_2d::Costmap2DROS *local_costmap)
49 {
50  nav_core_plugin_->initialize(name, tf, global_costmap, local_costmap);
51 }
52 
53 uint32_t WrapperRecoveryBehavior::runBehavior(std::string& message)
54 {
55  nav_core_plugin_->runBehavior();
56  // TODO return a code for old API
57  return mbf_msgs::RecoveryResult::SUCCESS;
58 }
59 
61 {
62  return false;
63 }
64 
66  : nav_core_plugin_(plugin)
67 {}
68 
70 {}
71 
72 }; /* namespace mbf_abstract_core */
WrapperRecoveryBehavior(boost::shared_ptr< nav_core::RecoveryBehavior > plugin)
Public constructor used for handling a nav_core-based plugin.
virtual bool cancel()
Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t runBehavior(std::string &message)
Runs the CostmapRecovery.
boost::shared_ptr< nav_core::RecoveryBehavior > nav_core_plugin_
virtual void initialize(std::string name, TF *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)
Initialization function for the CostmapRecovery.
virtual ~WrapperRecoveryBehavior()
Virtual destructor for the interface.


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Tue Jun 18 2019 19:34:40