Program Listing for File cb_nav2z_client_behavior_base.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 <nav2z_client/components/planner_switcher/planner_switcher.hpp>
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
namespace cl_nav2z
{
class CbNav2ZClientBehaviorBase : public smacc2::SmaccAsyncClientBehavior
{
public:
virtual ~CbNav2ZClientBehaviorBase();
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
this->requiresClient(nav2zClient_);
smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
}
protected:
void sendGoal(ClNav2Z::Goal & goal);
void cancelGoal();
// handling results according its type
bool isOwnActionResponse(const ClNav2Z::WrappedResult &);
virtual void onNavigationResult(const ClNav2Z::WrappedResult &);
virtual void onNavigationActionSuccess(const ClNav2Z::WrappedResult &);
virtual void onNavigationActionAbort(const ClNav2Z::WrappedResult &);
cl_nav2z::ClNav2Z * nav2zClient_;
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr navigationCallback_;
// deprecated
rclcpp_action::ResultCode navigationResult_;
std::shared_future<
std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose> > >
goalHandleFuture_;
};
enum class SpinningPlanner
{
Default,
PureSpinning,
Forward
};
} // namespace cl_nav2z