/*
 * Software License Agreement (BSD License)
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#ifndef ROBOT_NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H
#define ROBOT_NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H

#include <robot_nav_core/base_global_planner.h>
#include <robot_nav_core2/global_planner.h>
#include <boost/dll/import.hpp>
#include <string>
#include <vector>

namespace robot_nav_core_adapter
{

/**
 * @class GlobalPlannerAdapter
 * @brief used for employing a `robot_nav_core2` global planner (such as `navfn`) as a `robot_nav_core2` plugin, like in `locomotor`.
 */
class GlobalPlannerAdapter: public robot_nav_core2::GlobalPlanner
{
public:
  GlobalPlannerAdapter();

  // Nav Core 2 Global Planner Interface
  void initialize(const robot::NodeHandle& parent, const std::string& name,
                  TFListenerPtr tf, robot_nav_core2::Costmap::Ptr costmap) override;
  robot_nav_2d_msgs::Path2D makePlan(const robot_nav_2d_msgs::Pose2DStamped& start,
                               const robot_nav_2d_msgs::Pose2DStamped& goal) override;

  static robot_nav_core2::GlobalPlanner::Ptr create();

protected:
  // Plugin handling
  boost::function<robot_nav_core::BaseGlobalPlanner::Ptr()> planner_loader_;
  robot_nav_core::BaseGlobalPlanner::Ptr planner_;

  robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
  robot_nav_core2::Costmap::Ptr costmap_;
};

}  // namespace robot_nav_core_adapter

#endif  // ROBOT_NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H
