path_handler.hpp

// Copyright (c) 2025 Maurice Alexander Purnawan
//
// 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__PATH_HANDLER_HPP_
#define NAV2_CORE__PATH_HANDLER_HPP_
 
#include <memory>
#include <string>
#include <vector>
#include <utility>
 
#include "geometry_msgs/msg/pose.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
namespace nav2_core
{
using PathIterator = std::vector<geometry_msgs::msg::PoseStamped>::iterator;
using PathSegment = std::pair<PathIterator, PathIterator>;
 
class PathHandler
{
public:
  typedef std::shared_ptr<nav2_core::PathHandler> Ptr;
 
  virtual ~PathHandler() {}
 
  virtual void initialize(
    const nav2::LifecycleNode::WeakPtr & parent,
    const rclcpp::Logger & logger,
    const std::string & plugin_name,
    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros,
    nav2::TransformBuffer::SharedPtr tf) = 0;
 
  virtual void setPlan(const nav_msgs::msg::Path & path) = 0;
 
  virtual PathSegment findPlanSegment(
    const geometry_msgs::msg::PoseStamped & pose) = 0;
 
  virtual nav_msgs::msg::Path transformLocalPlan(
    const PathIterator & closest_point,
    const PathIterator & pruned_plan_end) = 0;
 
  virtual geometry_msgs::msg::PoseStamped getTransformedGoal(
    const builtin_interfaces::msg::Time & stamp) = 0;
};
 
}  // namespace nav2_core
 
#endif  // NAV2_CORE__PATH_HANDLER_HPP_