base_global_planner.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef NAV_CORE_BASE_GLOBAL_PLANNER_H
38 #define NAV_CORE_BASE_GLOBAL_PLANNER_H
39 
40 #include <geometry_msgs/PoseStamped.h>
42 
43 namespace nav_core {
49  public:
57  virtual bool makePlan(const geometry_msgs::PoseStamped& start,
58  const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0;
59 
68  virtual bool makePlan(const geometry_msgs::PoseStamped& start,
69  const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan,
70  double& cost)
71  {
72  cost = 0;
73  return makePlan(start, goal, plan);
74  }
75 
81  virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0;
82 
86  virtual ~BaseGlobalPlanner(){}
87 
88  protected:
90  };
91 }; // namespace nav_core
92 
93 #endif // NAV_CORE_BASE_GLOBAL_PLANNER_H
virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)=0
Initialization function for the BaseGlobalPlanner.
virtual ~BaseGlobalPlanner()
Virtual destructor for the interface.
virtual bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)=0
Given a goal pose in the world, compute a plan.
Provides an interface for global planners used in navigation. All global planners written as plugins ...
virtual bool makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)
Given a goal pose in the world, compute a plan.


nav_core
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:44:23