global_planner.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__GLOBAL_PLANNER_HPP_
#define NAV2_CORE__GLOBAL_PLANNER_HPP_
 
#include <memory>
#include <string>
#include <vector>
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "nav_msgs/msg/path.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
 
namespace nav2_core
{
 
class GlobalPlanner
{
public:
  using Ptr = std::shared_ptr<GlobalPlanner>;
 
  virtual ~GlobalPlanner() {}
 
  virtual void configure(
    const nav2::LifecycleNode::WeakPtr & parent,
    std::string name, nav2::TransformBuffer::SharedPtr tf,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) = 0;
 
  virtual void cleanup() = 0;
 
  virtual void activate() = 0;
 
  virtual void deactivate() = 0;
 
  virtual nav_msgs::msg::Path createPlan(
    const geometry_msgs::msg::PoseStamped & start,
    const geometry_msgs::msg::PoseStamped & goal,
    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
    std::function<bool()> cancel_checker) = 0;
};
 
}  // namespace nav2_core
 
#endif  // NAV2_CORE__GLOBAL_PLANNER_HPP_