Program Listing for File cb_wait_pose.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/nav2z_client.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
namespace cl_nav2z
{
// waits a robot pose message. Usually used for the startup synchronization.
enum class WaitPoseStandardReferenceFrame
{
Map,
Odometry
};
// Waits a new pose using the Pose Component
// the specific pose to wait is configured in that component
class CbWaitPose : public smacc2::SmaccAsyncClientBehavior
{
public:
// waits a new pose update of the Pose Component
CbWaitPose();
// waits a new pose update of the Pose Component in some reference frame (if there is no connection it will wait)
CbWaitPose(WaitPoseStandardReferenceFrame frame);
virtual ~CbWaitPose();
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
this->requiresClient(nav2zClient_);
smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
}
void onEntry() override;
protected:
cl_nav2z::ClNav2Z * nav2zClient_;
};
} // namespace cl_nav2z