path_planner.h

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#ifndef RAPP_PATH_PLANNER_NODE
#define RAPP_PATH_PLANNER_NODE

#include <string>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/Path.h>

class PathPlanner
{
  public:
    
    PathPlanner(void);

    std::string setSequenceNR(ros::NodeHandle &nh_, int pathPlanningThreads_);
    bool configureSequence(std::string seq_nr, std::string map_path, std::string robot_type, std::string algorithm, ros::NodeHandle &nh_);

    navfn::MakeNavPlanResponse startSequence(std::string seq_nr, geometry_msgs::PoseStamped request_start, geometry_msgs::PoseStamped request_goal, ros::NodeHandle &nh_);

//
//  OLD APPROACH
//

      private:


};

#endif