text: // Copyright (c) 2018, The Regents of the University of California
  // All rights reserved.
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are met:
  // * Redistributions of source code must retain the above copyright
  //   notice, this list of conditions and the following disclaimer.
  // * Redistributions in binary form must reproduce the above copyright
  //   notice, this list of conditions and the following disclaimer in the
  //   documentation and/or other materials provided with the distribution.
  // * Neither the name of the University of California nor the
  //   names of its contributors may be used to endorse or promote products
  //   derived from this software without specific prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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  #ifndef COGROB_NAVIGATION_ROUTE_MOVE_CONTROL_INTERFACE_H_
  #define COGROB_NAVIGATION_ROUTE_MOVE_CONTROL_INTERFACE_H_
  
  #include "util/status.h"
  
  namespace cogrob_navigation_route {
  
  class MoveControlInterface {
   public:
    ~MoveControlInterface() = default;
  
    virtual util::Status ForceCancel() = 0;
    virtual util::Status GetResult() = 0;
    virtual bool IsRunning() = 0;
  
    // TODO(shengye): Provide feedback.
    virtual util::Status StartMoveToNavPoint(const std::string& nav_point) = 0;
  };
  
  }  // namespace cogrob_navigation_route
  
  #endif  // COGROB_NAVIGATION_ROUTE_MOVE_CONTROL_INTERFACE_H_
  