.. _program_listing_file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_tools_goal_pose_goal_tool.hpp:

Program Listing for File goal_tool.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_tools_goal_pose_goal_tool.hpp>` (``/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/tools/goal_pose/goal_tool.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2012, Willow Garage, Inc.
    * Copyright (c) 2018, Bosch Software Innovations GmbH.
    * 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 Willow Garage, Inc. 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
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef RVIZ_DEFAULT_PLUGINS__TOOLS__GOAL_POSE__GOAL_TOOL_HPP_
   #define RVIZ_DEFAULT_PLUGINS__TOOLS__GOAL_POSE__GOAL_TOOL_HPP_
   
   #include <QObject>
   
   #include "geometry_msgs/msg/pose_stamped.hpp"
   #include "rclcpp/node.hpp"
   #include "rclcpp/qos.hpp"
   
   #include "rviz_default_plugins/tools/pose/pose_tool.hpp"
   #include "rviz_default_plugins/visibility_control.hpp"
   
   namespace rviz_common
   {
   class DisplayContext;
   namespace properties
   {
   class StringProperty;
   class QosProfileProperty;
   }  // namespace properties
   }  // namespace rviz_common
   
   namespace rviz_default_plugins
   {
   namespace tools
   {
   class RVIZ_DEFAULT_PLUGINS_PUBLIC GoalTool : public PoseTool
   {
     Q_OBJECT
   
   public:
     GoalTool();
   
     ~GoalTool() override;
   
     void onInitialize() override;
   
   protected:
     void onPoseSet(double x, double y, double theta) override;
   
   private Q_SLOTS:
     void updateTopic();
   
   private:
     rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_;
     rclcpp::Clock::SharedPtr clock_;
   
     rviz_common::properties::StringProperty * topic_property_;
     rviz_common::properties::QosProfileProperty * qos_profile_property_;
   
     rclcpp::QoS qos_profile_;
   };
   
   }  // namespace tools
   }  // namespace rviz_default_plugins
   
   #endif  // RVIZ_DEFAULT_PLUGINS__TOOLS__GOAL_POSE__GOAL_TOOL_HPP_