Program Listing for File cb_navigate_global_position.hpp
↰ Return to documentation for file (include/nav2z_client/client_behaviors/cb_navigate_global_position.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 <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include "cb_nav2z_client_behavior_base.hpp"
namespace cl_nav2z
{
struct CbNavigateGlobalPositionOptions
{
// std::optional<float> yawTolerance;
// std::optional<float> yawToleranceX;
// std::optional<float> yawToleranceY;
std::optional<std::string> goalChecker_;
std::optional<std::string> controllerName_;
};
class CbNavigateGlobalPosition : public CbNav2ZClientBehaviorBase
{
public:
float goalYaw;
CbNavigateGlobalPositionOptions options;
geometry_msgs::msg::Point goalPosition;
CbNavigateGlobalPosition();
CbNavigateGlobalPosition(
float x, float y, float yaw /*radians*/,
std::optional<CbNavigateGlobalPositionOptions> options = std::nullopt);
void setGoal(const geometry_msgs::msg::Pose & pose);
virtual void onEntry() override;
// This is the substate destructor. This code will be executed when the
// workflow exits from this substate (that is according to statechart the moment when this object is destroyed)
void onExit() override;
// auxiliary function that defines the motion that is requested to the navigation2 action server
void execute();
private:
void readStartPoseFromParameterServer(ClNav2Z::Goal & goal);
};
} // namespace cl_nav2z