global_planner.h

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#ifndef NAV_CORE2_GLOBAL_PLANNER_H
#define NAV_CORE2_GLOBAL_PLANNER_H
 
#include <nav_core2/common.h>
#include <nav_core2/costmap.h>
#include <nav_2d_msgs/Path2D.h>
#include <nav_2d_msgs/Pose2DStamped.h>
#include <string>
 
namespace nav_core2
{
 
class GlobalPlanner
{
public:
  virtual ~GlobalPlanner() {}
 
  virtual void initialize(const ros::NodeHandle& parent, const std::string& name,
                          TFListenerPtr tf, Costmap::Ptr costmap) = 0;
 
  virtual nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped& start,
                                       const nav_2d_msgs::Pose2DStamped& goal) = 0;
};
}  // namespace nav_core2
 
#endif  // NAV_CORE2_GLOBAL_PLANNER_H