costmap_planner.h
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2  * Copyright 2018, Sebastian Pütz
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33  * abstract_global_planner.h
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35  * author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
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38 
39 #ifndef MBF_COSTMAP_CORE__COSTMAP_PLANNER_H_
40 #define MBF_COSTMAP_CORE__COSTMAP_PLANNER_H_
41 
44 
45 namespace mbf_costmap_core {
53  public:
54 
56 
82  virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal,
83  double tolerance, std::vector<geometry_msgs::PoseStamped> &plan, double &cost,
84  std::string &message) = 0;
85 
91  virtual bool cancel() = 0;
92 
98  virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros) = 0;
99 
103  virtual ~CostmapPlanner(){}
104 
105  protected:
107 
108  };
109 } /* namespace mbf_costmap_core */
110 
111 #endif /* MBF_COSTMAP_CORE__COSTMAP_PLANNER_H_ */
virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)=0
Given a goal pose in the world, compute a plan.
virtual bool cancel()=0
Requests the planner to cancel, e.g. if it takes too much time.
Provides an interface for global planners used in navigation. All global planners written to work as ...
virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)=0
Initialization function for the CostmapPlanner.
virtual ~CostmapPlanner()
Virtual destructor for the interface.
boost::shared_ptr< ::mbf_costmap_core::CostmapPlanner > Ptr


mbf_costmap_core
Author(s): Jorge Santos , Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:27