base_global_planner.h

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* Author: Eitan Marder-Eppstein
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#ifndef NAV_CORE_BASE_GLOBAL_PLANNER_H
#define NAV_CORE_BASE_GLOBAL_PLANNER_H

#include <geometry_msgs/PoseStamped.h>
#include <costmap_2d/costmap_2d_ros.h>

namespace nav_core {
  class BaseGlobalPlanner{
    public:
      virtual bool makePlan(const geometry_msgs::PoseStamped& start, 
          const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0;

      virtual bool makePlan(const geometry_msgs::PoseStamped& start, 
                            const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan,
                            double& cost)
      {
        cost = 0;
        return makePlan(start, goal, plan);
      }

      virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0;

      virtual ~BaseGlobalPlanner(){}

    protected:
      BaseGlobalPlanner(){}
  };
};  // namespace nav_core

#endif  // NAV_CORE_BASE_GLOBAL_PLANNER_H