global_planner.h
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00001 /*
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00034 #ifndef NAV_CORE2_GLOBAL_PLANNER_H
00035 #define NAV_CORE2_GLOBAL_PLANNER_H
00036 
00037 #include <nav_core2/common.h>
00038 #include <nav_core2/costmap.h>
00039 #include <nav_2d_msgs/Path2D.h>
00040 #include <nav_2d_msgs/Pose2DStamped.h>
00041 #include <string>
00042 
00043 namespace nav_core2
00044 {
00045 
00050 class GlobalPlanner
00051 {
00052 public:
00056   virtual ~GlobalPlanner() {}
00057 
00069   virtual void initialize(const ros::NodeHandle& parent, const std::string& name,
00070                           TFListenerPtr tf, Costmap::Ptr costmap) = 0;
00071 
00078   virtual nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped& start,
00079                                        const nav_2d_msgs::Pose2DStamped& goal) = 0;
00080 };
00081 }  // namespace nav_core2
00082 
00083 #endif  // NAV_CORE2_GLOBAL_PLANNER_H


nav_core2
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autogenerated on Wed Jun 26 2019 20:09:31