Program Listing for File cp_slam_toolbox.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 <rclcpp/rclcpp.hpp>
#include <smacc2/client_bases/smacc_action_client.hpp>
#include <smacc2/component.hpp>
#include <std_msgs/msg/string.hpp>
namespace cl_nav2z
{
// stores the state of the last modification of the slam node
// (blind - open loop solution because the node does not provide that information)
class CpSlamToolbox : public smacc2::ISmaccComponent
{
public:
CpSlamToolbox();
virtual ~CpSlamToolbox();
enum class SlamToolboxState
{
Resumed,
Paused
};
inline SlamToolboxState getState() { return state_; }
void toogleState();
private:
SlamToolboxState state_;
};
} // namespace cl_nav2z