smoother.hpp

// Copyright (c) 2021 RoboTech Vision
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_CORE__SMOOTHER_HPP_
#define NAV2_CORE__SMOOTHER_HPP_
 
#include <memory>
#include <string>
 
#include "nav2_costmap_2d/costmap_subscriber.hpp"
#include "nav2_costmap_2d/footprint_subscriber.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "pluginlib/class_loader.hpp"
#include "nav_msgs/msg/path.hpp"
 
 
namespace nav2_core
{
 
class Smoother
{
public:
  using Ptr = std::shared_ptr<nav2_core::Smoother>;
 
  virtual ~Smoother() {}
 
  virtual void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
    std::string name, std::shared_ptr<tf2_ros::Buffer>,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>,
    std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>) = 0;
 
  virtual void cleanup() = 0;
 
  virtual void activate() = 0;
 
  virtual void deactivate() = 0;
 
  virtual bool smooth(
    nav_msgs::msg::Path & path,
    const rclcpp::Duration & max_time) = 0;
};
 
}  // namespace nav2_core
 
#endif  // NAV2_CORE__SMOOTHER_HPP_