Program Listing for File cb_abort_navigation.hpp
↰ Return to documentation for file (include/nav2z_client/client_behaviors/cb_abort_navigation.hpp
)
// 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 <tf2_ros/buffer.h>
#include "cb_nav2z_client_behavior_base.hpp"
#include "cb_navigate_global_position.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
namespace cl_nav2z
{
class CbAbortNavigation : public smacc2::SmaccAsyncClientBehavior
{
public:
CbAbortNavigation();
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
this->requiresClient(nav2zClient_);
smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
}
void onEntry() override;
void onExit() override;
private:
cl_nav2z::ClNav2Z * nav2zClient_;
};
} // namespace cl_nav2z