consider making `World` inherit from `base_local_planner::WorldModel`

rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions

BSD 3-Clause "New" or "Revised" License

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Open rayvburn opened 2 years ago

rayvburn commented 2 years ago

base_local_planner::WorldModel:

An interface the trajectory controller uses to interact with the world regardless of the underlying world model.

Since CostmapModel is derived from WorldModel, the HuBeRo's SparseModel would inherit from WorldModel too.