behavior.hpp

// Copyright (c) 2019 Samsung Research America
//
// 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__BEHAVIOR_HPP_
#define NAV2_CORE__BEHAVIOR_HPP_
 
#include <string>
#include <memory>
 
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "tf2_ros/buffer.h"
#include "nav2_costmap_2d/costmap_topic_collision_checker.hpp"
 
namespace nav2_core
{
 
enum class CostmapInfoType
{
  NONE = 0,
  LOCAL = 1,
  GLOBAL = 2,
  BOTH = 3
};
 
class Behavior
{
public:
  using Ptr = std::shared_ptr<Behavior>;
 
  virtual ~Behavior() {}
 
  virtual void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    const std::string & name, std::shared_ptr<tf2_ros::Buffer> tf,
    std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> local_collision_checker,
    std::shared_ptr<nav2_costmap_2d::CostmapTopicCollisionChecker> global_collision_checker) = 0;
 
  virtual void cleanup() = 0;
 
  virtual void activate() = 0;
 
  virtual void deactivate() = 0;
 
  virtual CostmapInfoType getResourceInfo() = 0;
};
 
}  // namespace nav2_core
 
#endif  // NAV2_CORE__BEHAVIOR_HPP_