Changes to be made

[kvmanohar22]

I think we need to make certain changes to the data types that are used in the planner.

1. Instead of using

typedef struct 
{
  double x;
  double y;
}point;

it would be better if we use the point from krssg_ssl_msgs msg package (point_2d).

2. Currently, the planner is only accepting the points from the GUI, we need to change this so that skills are able to call.

Planning(std::vector<pos> &v,int n, gui_msg gui_msgs);

3. It's better if we start using the data types from krssg_ssl_msgs, in that way we don't need to define them wherever we start using. The following data types which are currently defined in MotionPlanner.h

typedef struct 
{
  double x;
  double y;
}point;

typedef struct 
{
  double stepSize;
  double maxIteration;
  double biasParam;
  int planner_selector;
}gui_msg;

typedef struct {
  double xrange[2];
  double yrange[2];
} RANGE;

typedef struct
{
    double x;
    double y;
}pos;

4. In addition, it would be better if we define following method in Planner.

bool should_replan();

@KgpKubs/path any more ideas, please add them here.