global_planner.h
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34 #ifndef NAV_CORE2_GLOBAL_PLANNER_H
35 #define NAV_CORE2_GLOBAL_PLANNER_H
36 
37 #include <nav_core2/common.h>
38 #include <nav_core2/costmap.h>
39 #include <nav_2d_msgs/Path2D.h>
40 #include <nav_2d_msgs/Pose2DStamped.h>
41 #include <string>
42 
43 namespace nav_core2
44 {
45 
51 {
52 public:
56  virtual ~GlobalPlanner() {}
57 
69  virtual void initialize(const ros::NodeHandle& parent, const std::string& name,
70  TFListenerPtr tf, Costmap::Ptr costmap) = 0;
71 
78  virtual nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped& start,
79  const nav_2d_msgs::Pose2DStamped& goal) = 0;
80 };
81 } // namespace nav_core2
82 
83 #endif // NAV_CORE2_GLOBAL_PLANNER_H
virtual void initialize(const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, Costmap::Ptr costmap)=0
Initialization function for the GlobalPlanner.
Provides an interface for global planners used in navigation.
virtual ~GlobalPlanner()
Virtual Destructor.
virtual nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped &start, const nav_2d_msgs::Pose2DStamped &goal)=0
Run the global planner to make a plan starting at the start and ending at the goal.
std::shared_ptr< Costmap > Ptr
Definition: costmap.h:56
std::shared_ptr< tf::TransformListener > TFListenerPtr
Definition: common.h:40


nav_core2
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autogenerated on Sun Jan 10 2021 04:08:27