global_planner_interface.h

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/* Author: Sebastian Jahr
   Description: Defines an interface for a global motion planner plugin implementation used in the global planner
   component node.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_action/rclcpp_action.hpp>
 
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 
#include <moveit_msgs/action/global_planner.hpp>
#include <moveit_msgs/msg/motion_plan_response.hpp>
 
namespace moveit::hybrid_planning
{
class GlobalPlannerInterface
{
public:
  GlobalPlannerInterface() = default;
  GlobalPlannerInterface(const GlobalPlannerInterface&) = default;
  GlobalPlannerInterface(GlobalPlannerInterface&&) = default;
  GlobalPlannerInterface& operator=(const GlobalPlannerInterface&) = default;
  GlobalPlannerInterface& operator=(GlobalPlannerInterface&&) = default;
  virtual ~GlobalPlannerInterface() = default;
  virtual bool initialize(const rclcpp::Node::SharedPtr& node) = 0;
 
  virtual moveit_msgs::msg::MotionPlanResponse plan(
      const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::GlobalPlanner>> global_goal_handle) = 0;
 
  virtual bool reset() noexcept = 0;
};
}  // namespace moveit::hybrid_planning