.. _file_include_easynav_planner_PlannerNode.hpp:

File PlannerNode.hpp
====================

|exhale_lsh| :ref:`Parent directory <dir_include_easynav_planner>` (``include/easynav_planner``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Declaration of the PlannerNode class, a ROS 2 lifecycle node for computing navigation paths in Easy Navigation. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/easynav_planner/PlannerNode.hpp``)
--------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_easynav_planner_PlannerNode.hpp.rst





Includes
--------


- ``easynav_common/types/NavState.hpp``

- ``easynav_core/PlannerMethodBase.hpp``

- ``nav_msgs/msg/path.hpp``

- ``pluginlib/class_loader.hpp``

- ``rclcpp/macros.hpp``

- ``rclcpp_lifecycle/lifecycle_node.hpp``






Namespaces
----------


- :ref:`namespace_easynav`


Classes
-------


- :ref:`exhale_class_classeasynav_1_1PlannerNode`