post_planning_interface.hpp

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/*
 * MIT License
 *
 * Copyright (c) 2020 Dima Dorezyuk
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
 
#pragma once
 
#include <costmap_2d/costmap_2d_ros.h>
#include <geometry_msgs/PoseStamped.h>
 
#include <string>
#include <vector>
 
namespace gpp_interface {
 
struct PostPlanningInterface {
  // define the interface types
  using Pose = geometry_msgs::PoseStamped;
  using Path = std::vector<Pose>;
  using Map = costmap_2d::Costmap2DROS;
 
  // polymorphism required for this class
  virtual ~PostPlanningInterface() = default;
 
  virtual bool
  postProcess(const Pose &_start, const Pose &_goal, Path &_path,
              double &_cost) = 0;
 
  virtual void
  initialize(const std::string &_name, Map *_map) = 0;
};
 
}  // namespace gpp_interface