gpp_update_map.hpp

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/*
 * MIT License
 *
 * Copyright (c) 2021 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 <gpp_interface/pre_planning_interface.hpp>
 
namespace gpp_update_map {
 
// short-cut
using gpp_interface::PrePlanningInterface;
 
struct GppUpdateMap : public PrePlanningInterface {
  bool
  preProcess(Pose& _start, Pose& _goal) override;
 
  void
  initialize(const std::string& _name, Map* _map) override;
 
private:
  Map* map_ = nullptr;
};
 
}  // namespace gpp_update_map