//=================================================================================================
// Copyright (c) 2012, Mark Sollweck, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================


#include <hector_exploration_planner/hector_exploration_base_global_planner_plugin.h>

PLUGINLIB_DECLARE_CLASS(hector_exploration_planner, HectorExplorationBaseGlobalPlannerPlugin, hector_exploration_planner::HectorExplorationBaseGlobalPlannerPlugin, nav_core::BaseGlobalPlanner);

using namespace hector_exploration_planner;


HectorExplorationBaseGlobalPlannerPlugin::HectorExplorationBaseGlobalPlannerPlugin()
{
  exploration_planner = new HectorExplorationPlanner();
}

HectorExplorationBaseGlobalPlannerPlugin::~HectorExplorationBaseGlobalPlannerPlugin()
{
  delete exploration_planner;
}

bool HectorExplorationBaseGlobalPlannerPlugin::makePlan(const geometry_msgs::PoseStamped& start,
                      const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan)
{
  return exploration_planner->makePlan(start, goal, plan);
}

void HectorExplorationBaseGlobalPlannerPlugin::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros)
{
  exploration_planner->initialize(name, costmap_ros);
}
