local_planner.h

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#ifndef NAV_CORE2_LOCAL_PLANNER_H
#define NAV_CORE2_LOCAL_PLANNER_H

#include <nav_core2/common.h>
#include <nav_core2/costmap.h>
#include <nav_2d_msgs/Path2D.h>
#include <nav_2d_msgs/Pose2DStamped.h>
#include <nav_2d_msgs/Twist2D.h>
#include <nav_2d_msgs/Twist2DStamped.h>
#include <string>

namespace nav_core2
{

class LocalPlanner
{
public:
  virtual ~LocalPlanner() {}

  virtual void initialize(const ros::NodeHandle& parent, const std::string& name,
                          TFListenerPtr tf, Costmap::Ptr costmap) = 0;

  virtual void setGoalPose(const nav_2d_msgs::Pose2DStamped& goal_pose) = 0;

  virtual void setPlan(const nav_2d_msgs::Path2D& path) = 0;

  virtual nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose,
                                                              const nav_2d_msgs::Twist2D& velocity) = 0;

  virtual bool isGoalReached(const nav_2d_msgs::Pose2DStamped& pose, const nav_2d_msgs::Twist2D& velocity) = 0;
};
}  // namespace nav_core2

#endif  // NAV_CORE2_LOCAL_PLANNER_H