mesh_controller.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */
 
#ifndef MBF_MESH_CORE__MESH_CONTROLLER_H
#define MBF_MESH_CORE__MESH_CONTROLLER_H
 
#include <boost/shared_ptr.hpp>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/TwistStamped.h>
#include <mbf_abstract_core/abstract_controller.h>
#include <mesh_map/mesh_map.h>
#include <stdint.h>
#include <string>
#include <vector>
 
namespace mbf_mesh_core
{
class MeshController : public mbf_abstract_core::AbstractController
{
public:
  typedef boost::shared_ptr<mbf_mesh_core::MeshController> Ptr;
 
  virtual ~MeshController(){};
 
  virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped& pose,
                                           const geometry_msgs::TwistStamped& velocity,
                                           geometry_msgs::TwistStamped& cmd_vel, std::string& message) = 0;
 
  virtual bool isGoalReached(double dist_tolerance, double angle_tolerance) = 0;
 
  virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0;
 
  virtual bool cancel() = 0;
 
  virtual bool initialize(const std::string& name, const boost::shared_ptr<tf2_ros::Buffer>& tf_ptr,
                          const boost::shared_ptr<mesh_map::MeshMap>& mesh_map_ptr) = 0;
 
protected:
  MeshController(){};
};
} /* namespace mbf_mesh_core */
 
#endif /* MBF_MESH_NAVIGATION__MESH_CONTROLLER_H */