clear_costmap_recovery: clear_costmap_recovery: clear_costmap

00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
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00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
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00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
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00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
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00016 *     disclaimer in the documentation and/or other materials provided
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00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef CLEAR_COSTMAP_RECOVERY_H_
00038 #define CLEAR_COSTMAP_RECOVERY_H_
00039 #include <nav_core/recovery_behavior.h>
00040 #include <costmap_2d/costmap_2d_ros.h>
00041 #include <tf/transform_listener.h>
00042 #include <ros/ros.h>
00043 
00044 namespace clear_costmap_recovery{
00049   class ClearCostmapRecovery : public nav_core::RecoveryBehavior {
00050     public:
00056       ClearCostmapRecovery();
00057 
00064       void initialize(std::string name, tf::TransformListener* tf, 
00065           costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap);
00066 
00072       void runBehavior();
00073 
00074     private:
00075       costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_;
00076       std::string name_;
00077       tf::TransformListener* tf_;
00078       bool initialized_;
00079       double reset_distance_;
00080   };
00081 };
00082 #endif
clear_costmap_recovery.h
