abstract_planner.h
Go to the documentation of this file.
1 /*
2  * Copyright 2018, Sebastian Pütz
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions
6  * are met:
7  *
8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  *
11  * 2. Redistributions in binary form must reproduce the above
12  * copyright notice, this list of conditions and the following
13  * disclaimer in the documentation and/or other materials provided
14  * with the distribution.
15  *
16  * 3. Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived
18  * from this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
22  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
23  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
24  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
25  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
26  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
27  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
29  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
30  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  *
33  * abstract_planner.h
34  *
35  * author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
36  *
37  */
38 
39 #ifndef MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_
40 #define MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_
41 
42 #include <vector>
43 #include <string>
44 #include <stdint.h>
45 #include <boost/shared_ptr.hpp>
46 #include <geometry_msgs/PoseStamped.h>
47 
48 namespace mbf_abstract_core
49 {
50 
52 
53  public:
55 
59  virtual ~AbstractPlanner(){};
60 
86  virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal,
87  double tolerance, std::vector<geometry_msgs::PoseStamped> &plan, double &cost,
88  std::string &message) = 0;
89 
94  virtual bool cancel() = 0;
95 
96  protected:
101  };
102 } /* namespace mbf_abstract_core */
103 
104 #endif /* MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_ */
virtual bool cancel()=0
Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)=0
Given a goal pose in the world, compute a plan.
boost::shared_ptr< ::mbf_abstract_core::AbstractPlanner > Ptr
virtual ~AbstractPlanner()
Destructor.


mbf_abstract_core
Author(s): Sebastian Pütz , Jorge Santos
autogenerated on Wed May 27 2020 04:03:11