#ifndef __PLANNER_CORE_H__
#define __PLANNER_CORE_H__

#include "common/common.h"

namespace planner {

class Core
{
    public:
        virtual ~Core(){}
        virtual common::NavState computeVelocityCommands(common::Point& sta_pose, common::Twist& cmd) = 0;
        
        virtual void setPath(common::Path& path) = 0;
        virtual void setConfig(common::Config& conf) = 0;
        virtual void reset() = 0;
        virtual void destroy() = 0;

        virtual common::Config getConfig() = 0;
        virtual common::Path getLocalPath() = 0;
        virtual common::Path getGlobalPath() = 0;
        virtual common::Path interPath(float a) = 0;
    
    protected:
        virtual common::NavState computeVelocity(common::Point& sta_pose, common::Twist& cmd) = 0;
};

}

#endif