global_planner_plugin.h

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/*******************************
 *                             *
 *  Author: Rein Appeldoorn    *
 *  Date:   2013-03-06         *
 *                             *
 *******************************/
 
#ifndef cb_global_planner_GLOBAL_PLANNER_PLUGIN_
#define cb_global_planner_GLOBAL_PLANNER_PLUGIN_
 
#include <cb_base_navigation_msgs/PositionConstraint.h>
 
#include <geometry_msgs/PoseStamped.h>
 
#include <tf2/utils.h>
 
#include <vector>
 
namespace costmap_2d {
class Costmap2DROS;
}
 
namespace tf2_ros {
class Buffer;
}
 
namespace cb_global_planner {
  class GlobalPlannerPlugin {
    public:
      virtual bool makePlan(const geometry_msgs::PoseStamped& start, const cb_base_navigation_msgs::PositionConstraint& pc,
                            std::vector<geometry_msgs::PoseStamped>& plan, std::vector<tf2::Vector3>& goal_positions) = 0;
 
      virtual bool checkPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0;
 
      virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* global_costmap_ros) = 0;
 
      virtual ~GlobalPlannerPlugin() {}
 
    protected:
      GlobalPlannerPlugin() {}
  };
}
 
#endif