controller.hpp

/*
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 *  Copyright (c) 2019, Intel Corporation
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#ifndef NAV2_CORE__CONTROLLER_HPP_
#define NAV2_CORE__CONTROLLER_HPP_
 
#include <memory>
#include <string>
 
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
#include "pluginlib/class_loader.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_core/goal_checker.hpp"
 
 
namespace nav2_core
{
 
class Controller
{
public:
  using Ptr = std::shared_ptr<nav2_core::Controller>;
 
 
  virtual ~Controller() {}
 
  virtual void configure(
    const nav2::LifecycleNode::WeakPtr &,
    std::string name, nav2::TransformBuffer::SharedPtr,
    std::shared_ptr<nav2_costmap_2d::Costmap2DROS>) = 0;
 
  virtual void cleanup() = 0;
 
  virtual void activate() = 0;
 
  virtual void deactivate() = 0;
 
  virtual void newPathReceived(const nav_msgs::msg::Path & raw_global_path) = 0;
 
  virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::Twist & velocity,
    nav2_core::GoalChecker * goal_checker,
    const nav_msgs::msg::Path & transformed_global_plan,
    const geometry_msgs::msg::PoseStamped & global_goal) = 0;
 
  virtual bool cancel()
  {
    return true;
  }
 
  virtual void setSpeedLimit(const double & speed_limit, const bool & percentage) = 0;
 
  virtual void reset() {}
};
 
}  // namespace nav2_core
 
#endif  // NAV2_CORE__CONTROLLER_HPP_