Issues related to navfn and global_planner plugin

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Hi, I am using ROS fuerte. I have gone through the navfn . I want a ROS plugin for my own global planner I have Visited this page.

I have following doubts:

• I want to my own global path planner to make two/three of different plans. All these plans will require to remove the inbuilt Dijkstra's algorithm, implemented inside navfn.cpp and used inside navfn_ros.cpp. Will a single plugin serve my purpose or I have to make different plugins and make them switchable to decide the proper plan?

• Why two makePlan() methods are used (see here)?

• In the link ( http://www.iroboapp.org/index.php?tit... ); they have not told anything about modification about navfn.cpp. .

• Finally, where the should I place the code specific to this plugin? Should I create a separate library containing all the files similar to navfn?

Updated based on Comment

As mentioned in the link, pluginlib is a C++ library for loading and unloading plugins from within a ROS package. Plugins are dynamically loadable classes that are loaded from a runtime library. So, in the

tutorial, a static makePlan() method is used. I observe that the Dijkstra's algorithm has to be modified and it is defined as calcNavFnDijkstra(true). Again, calcNavFnDijkstra(true) is defined inside navfn.cpp. So, I want to know, if I write my own navfn.cpp which is the only source file in my plugin, can the other part of navfn_ros.cpp (defined inside navfn package) can relate to the new navfn.cpp dynamically?

I hope somebody has enough insight into the code to help me with these doubts.

Thanks in advance