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src/dock_planner.cpp

@@ -1,6 +1,7 @@
 #include "dock_planner/dock_planner.h"
 #include <cmath>
 #include <algorithm>
+#include <boost/dll/alias.hpp>
 
 namespace dock_planner 
 {
@@ -121,4 +122,13 @@ namespace dock_planner
     //     plan_pub_.publish(path_msg);
     // }
 
+    // Export factory function
+    static boost::shared_ptr<robot_nav_core::BaseGlobalPlanner> dock_planner_plugin() {
+        return boost::make_shared<dock_planner::DockPlanner>();
+    }
+
+
 } // namespace dock_planner
+
+// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
+BOOST_DLL_ALIAS(dock_planner::dock_planner_plugin, DockPlanner)