recovery_behavior.h

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

#include <costmap_2d/costmap_2d_ros.h>
#include <tf/transform_listener.h>

namespace nav_core {
  class RecoveryBehavior{
    public:
      virtual void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap) = 0;

      virtual void runBehavior() = 0;

      virtual ~RecoveryBehavior(){}

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

#endif  // NAV_CORE_RECOVERY_BEHAVIOR_H