goal_passer.h

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* Author: Eitan Marder-Eppstein
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#ifndef GOAL_PASSER_H_
#define GOAL_PASSER_H_
#include <nav_core/base_global_planner.h>
#include <geometry_msgs/PoseStamped.h>
#include <costmap_2d/costmap_2d_ros.h>

namespace goal_passer {
  class GoalPasser : public nav_core::BaseGlobalPlanner {
    public:
      GoalPasser() {}
      void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
      bool makePlan(const geometry_msgs::PoseStamped& start,
          const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
    private:
      costmap_2d::Costmap2DROS* costmap_ros_;
      geometry_msgs::PoseStamped last_goal_;
  };
};
#endif