00001 #ifndef STATE_CREATOR_R_O_S_NAVIGATION_H 00002 #define STATE_CREATOR_R_O_S_NAVIGATION_H 00003 00004 #include "continual_planning_executive/stateCreator.h" 00005 #include <tf/tf.h> 00006 #include <tf/transform_listener.h> 00007 00008 namespace planner_navigation_actions 00009 { 00010 00011 class StateCreatorROSNavigation : public continual_planning_executive::StateCreator 00012 { 00013 public: 00014 StateCreatorROSNavigation(); 00015 ~StateCreatorROSNavigation(); 00016 00017 virtual bool fillState(SymbolicState & state); 00018 00019 protected: 00020 tf::TransformListener _tf; 00021 00022 double _goalTolerance; 00023 }; 00024 00025 }; 00026 00027 #endif 00028
