ROS Navigation-----base_local_planner类

类成员函数：
public:
1. virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0;
/**
* @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base
* @param cmd_vel Will be filled with the velocity command to be passed to the robot base
* @return True if a valid velocity command was found, false otherwise
**/
2. virtual bool isGoalReached() = 0;
/**
* @brief Check if the goal pose has been achieved by the local planner
* @return True if achieved, false otherwise
**/
3. virtual bool setPlan(const std::vector& plan) = 0;
/**
* @brief Set the plan that the local planner is following
* @param orig_global_plan The plan to pass to the local planner
* @return True if the plan was updated successfully, false otherwise
**/
4. virtual void initialize(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;
/**
* @brief Constructs the local planner
* @param name The name to give this instance of the local planner
* @param tf A pointer to a transform listener
* @param costmap The cost map to use for assigning costs to local plans
**/
5. virtual ~BaseLocalPlanner(){}
/**
* @brief Virtual destructor for the interface
**/
protected:
BaseLocalPlanner(){}