car_maneuver_recovery.h

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#ifndef CAR_MANEUVER_RECOVERY_CAR_MANEUVER_RECOVERY_H
#define CAR_MANEUVER_RECOVERY_CAR_MANEUVER_RECOVERY_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <nav_core/recovery_behavior.h>
#include <base_local_planner/costmap_model.h>
#include <geometry_msgs/Twist.h>

namespace car_maneuver_recovery
{

  class CarManeuverRecovery : public nav_core::RecoveryBehavior
  {
    public:

      CarManeuverRecovery();

      ~CarManeuverRecovery();

      void initialize(std::string name, tf::TransformListener* tfListener,
        costmap_2d::Costmap2DROS* globalCostmapROS,
        costmap_2d::Costmap2DROS* localCostmapROS);

      void runBehavior();

      double lineCost(geometry_msgs::Point point1, geometry_msgs::Point point2);

    private:

      std::string name_;
      bool initialized_;

      ros::Publisher twistPub_;

      tf::TransformListener* tfListener_;
      costmap_2d::Costmap2DROS* localCostmapROS_;
      costmap_2d::Costmap2DROS* globalCostmapROS_;
      base_local_planner::CostmapModel* worldModel_;

      double recoverySpeed_;
      double recoverySteeringAngle_;
      double wheelbase_;
      bool fourWheelSteering_;
      bool crabSteering_;
      double timeout_;


  };

}  // namespace car_maneuver_recovery

#endif  // CAR_MANEUVER_RECOVERY_CAR_MANEUVER_RECOVERY_H