abstract_controller.h
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1 /*
2  * Copyright 2018, Sebastian Pütz
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32  *
33  * abstract_planner.h
34  *
35  * author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
36  *
37  */
38 
39 #ifndef MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_
40 #define MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_
41 
42 #include <vector>
43 #include <string>
44 #include <stdint.h>
45 #include <boost/shared_ptr.hpp>
46 #include <geometry_msgs/TwistStamped.h>
47 #include <geometry_msgs/PoseStamped.h>
48 
50 
52 
53  public:
54 
56 
60  virtual ~AbstractController(){};
61 
89  virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped& pose,
90  const geometry_msgs::TwistStamped& velocity,
91  geometry_msgs::TwistStamped &cmd_vel,
92  std::string &message) = 0;
93 
100  virtual bool isGoalReached(double dist_tolerance, double angle_tolerance) = 0;
101 
107  virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped> &plan) = 0;
108 
113  virtual bool cancel() = 0;
114 
115  protected:
120  };
121 } /* namespace mbf_abstract_core */
122 
123 #endif /* MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_ */
virtual bool isGoalReached(double dist_tolerance, double angle_tolerance)=0
Check if the goal pose has been achieved by the local planner.
virtual bool cancel()=0
Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)=0
Given the current position, orientation, and velocity of the robot, compute velocity commands to send...
virtual bool setPlan(const std::vector< geometry_msgs::PoseStamped > &plan)=0
Set the plan that the local planner is following.
boost::shared_ptr< ::mbf_abstract_core::AbstractController > Ptr


mbf_abstract_core
Author(s): Sebastian Pütz , Jorge Santos
autogenerated on Mon Feb 28 2022 22:49:46