Program Listing for File cb_retry_behavior.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/odom_tracker/odom_tracker.hpp>
#include <optional>
#include "cb_nav2z_client_behavior_base.hpp"
namespace cl_nav2z
{
using odom_tracker::OdomTracker;
template <typename TCbRelativeMotion>
class CbRetry : public TCbRelativeMotion
{
public:
CbRetry() {}
void onEntry() override
{
odomTracker_ = this->nav2zClient_->template getComponent<OdomTracker>();
auto goal = odomTracker_->getCurrentMotionGoal();
if (goal)
{
this->goalPose_ = *goal;
}
TCbRelativeMotion::onEntry();
}
private:
OdomTracker * odomTracker_;
};
} // namespace cl_nav2z