base_local_planner.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef NAV_CORE_BASE_LOCAL_PLANNER_
00038 #define NAV_CORE_BASE_LOCAL_PLANNER_
00039 
00040 #include <geometry_msgs/PoseStamped.h>
00041 #include <geometry_msgs/Twist.h>
00042 #include <costmap_2d/costmap_2d_ros.h>
00043 #include <tf/transform_listener.h>
00044 
00045 namespace nav_core {
00050   class BaseLocalPlanner{
00051     public:
00057       virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0;
00058 
00063       virtual bool isGoalReached() = 0;
00064 
00070       virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0;
00071 
00078       virtual void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;
00079 
00083       virtual ~BaseLocalPlanner(){}
00084 
00085     protected:
00086       BaseLocalPlanner(){}
00087   };
00088 };
00089 
00090 #endif


nav_core
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:05