base_local_planner.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef NAV_CORE_BASE_LOCAL_PLANNER_H
38 #define NAV_CORE_BASE_LOCAL_PLANNER_H
39 
40 #include <geometry_msgs/PoseStamped.h>
41 #include <geometry_msgs/Twist.h>
43 #include <tf2_ros/buffer.h>
44 
45 namespace nav_core {
50  class BaseLocalPlanner{
51  public:
57  virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0;
58 
63  virtual bool isGoalReached() = 0;
64 
70  virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0;
71 
78  virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;
79 
83  virtual ~BaseLocalPlanner(){}
84 
85  protected:
87  };
88 }; // namespace nav_core
89 
90 #endif // NAV_CORE_BASE_LOCAL_PLANNER_H
nav_core::BaseLocalPlanner::initialize
virtual void initialize(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros)=0
Constructs the local planner.
nav_core::BaseLocalPlanner::~BaseLocalPlanner
virtual ~BaseLocalPlanner()
Virtual destructor for the interface.
Definition: base_local_planner.h:118
buffer.h
costmap_2d_ros.h
nav_core::BaseLocalPlanner::BaseLocalPlanner
BaseLocalPlanner()
Definition: base_local_planner.h:121
nav_core::BaseLocalPlanner::computeVelocityCommands
virtual bool computeVelocityCommands(geometry_msgs::Twist &cmd_vel)=0
Given the current position, orientation, and velocity of the robot, compute velocity commands to send...
nav_core::BaseLocalPlanner::isGoalReached
virtual bool isGoalReached()=0
Check if the goal pose has been achieved by the local planner.
tf2_ros::Buffer
nav_core
Definition: base_global_planner.h:43
tf
costmap_2d::Costmap2DROS
nav_core::BaseLocalPlanner::setPlan
virtual bool setPlan(const std::vector< geometry_msgs::PoseStamped > &plan)=0
Set the plan that the local planner is following.


nav_core
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Wed Jan 18 2023 03:49:35