分析下列程序的运行namespace nav_core { /** * @class BaseLocalPlanner * @brief Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. / class BaseLocalPlanner{ public: /* * @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 / virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0; /* * @brief Check if the goal pose has been achieved by the local planner * @return True if achieved, false otherwise / virtual bool isGoalReached() = 0; /* * @brief Set the plan that the local planner is following * @param plan The plan to pass to the local planner * @return True if the plan was updated successfully, false otherwise / virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 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_ros The cost map to use for assigning costs to local plans / virtual void initialize(std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseLocalPlanner(){} protected: BaseLocalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_LOCAL_PLANNER_H

这是一个 C++ 程序，定义了一个命名空间 nav_core，其中包含了一个类 BaseLocalPlanner，该类提供了用于导航中本地规划器的接口。所有作为导航栈插件编写的本地规划器都必须遵守此接口。

该类包含了四个虚函数，分别是：

1. computeVelocityCommands: 根据机器人的当前位置、方向和速度计算速度命令，并将其填充到 cmd_vel 中。

2. isGoalReached: 检查本地规划器是否已经到达目标位姿。

3. setPlan: 设置本地规划器要遵循的路径。

4. initialize: 构造本地规划器，并初始化其参数。

该类还包含了一个保护构造函数和一个虚析构函数。