Program Listing for File cb_navigate_global_position.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once

#include "smacc2/smacc_asynchronous_client_behavior.hpp"
#include <geometry_msgs/msg/pose_stamped.hpp>

namespace sm_autoware_avp
{
namespace clients
{
namespace autoware_client
{
class CbNavigateGlobalPosition : public smacc2::SmaccAsyncClientBehavior
{
public:
  CbNavigateGlobalPosition(const geometry_msgs::msg::PoseStamped& goalPose);

  virtual void onEntry() override;

  void onExit() override;

private:
  geometry_msgs::msg::PoseStamped goalPose_;
};
}  // namespace autoware_client

}  // namespace clients
}  // namespace sm_autoware_avp