goal_checker.hpp

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#ifndef NAV2_CORE__GOAL_CHECKER_HPP_
#define NAV2_CORE__GOAL_CHECKER_HPP_
 
#include <memory>
#include <string>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "geometry_msgs/msg/twist.hpp"
 
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
 
 
namespace nav2_core
{
 
class GoalChecker
{
public:
  typedef std::shared_ptr<nav2_core::GoalChecker> Ptr;
 
  virtual ~GoalChecker() {}
 
  virtual void initialize(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    const std::string & plugin_name,
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) = 0;
 
  virtual void reset() = 0;
 
  virtual bool isGoalReached(
    const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
    const geometry_msgs::msg::Twist & velocity) = 0;
 
  virtual bool getTolerances(
    geometry_msgs::msg::Pose & pose_tolerance,
    geometry_msgs::msg::Twist & vel_tolerance) = 0;
};
 
}  // namespace nav2_core
 
#endif  // NAV2_CORE__GOAL_CHECKER_HPP_