trajectory_generator.h

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#ifndef DWB_LOCAL_PLANNER_TRAJECTORY_GENERATOR_H
#define DWB_LOCAL_PLANNER_TRAJECTORY_GENERATOR_H
 
#include <ros/ros.h>
#include <nav_2d_msgs/Twist2D.h>
#include <dwb_msgs/Trajectory2D.h>
#include <memory>
#include <vector>
 
namespace dwb_local_planner
{
 
class TrajectoryGenerator
{
public:
  using Ptr = std::shared_ptr<dwb_local_planner::TrajectoryGenerator>;
 
  virtual ~TrajectoryGenerator() {}
 
  virtual void initialize(ros::NodeHandle& nh) = 0;
 
  virtual void reset() {}
 
  virtual void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) = 0;
 
  virtual bool hasMoreTwists() = 0;
 
  virtual nav_2d_msgs::Twist2D nextTwist() = 0;
 
  virtual std::vector<nav_2d_msgs::Twist2D> getTwists(const nav_2d_msgs::Twist2D& current_velocity)
  {
    std::vector<nav_2d_msgs::Twist2D> twists;
    startNewIteration(current_velocity);
    while (hasMoreTwists())
    {
      twists.push_back(nextTwist());
    }
    return twists;
  }
 
  virtual dwb_msgs::Trajectory2D generateTrajectory(const geometry_msgs::Pose2D& start_pose,
                                                    const nav_2d_msgs::Twist2D& start_vel,
                                                    const nav_2d_msgs::Twist2D& cmd_vel) = 0;
};
 
}  // namespace dwb_local_planner
 
#endif  // DWB_LOCAL_PLANNER_TRAJECTORY_GENERATOR_H