ROS Navigation-----base_local_planner类

类成员函数：

public:

1. virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0;

/**

* @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base

* @param cmd_vel Will be filled with the velocity command to be passed to the robot base

* @return True if a valid velocity command was found, false otherwise

**/

2. virtual bool isGoalReached() = 0;

/**

* @brief Check if the goal pose has been achieved by the local planner

* @return True if achieved, false otherwise

**/

3. virtual bool setPlan(const std::vector& plan) = 0;

/**

* @brief Set the plan that the local planner is following

* @param orig_global_plan The plan to pass to the local planner

* @return True if the plan was updated successfully, false otherwise

**/

4. virtual void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;

/**

* @brief Constructs the local planner

* @param name The name to give this instance of the local planner

* @param tf A pointer to a transform listener

* @param costmap The cost map to use for assigning costs to local plans

**/

5. virtual ~BaseLocalPlanner(){}

/**

* @brief Virtual destructor for the interface

**/

protected:

BaseLocalPlanner(){}