.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_custom_planners_pure_spinning_local_planner_include_pure_spinning_local_planner_pure_spinning_local_planner.hpp:

Program Listing for File pure_spinning_local_planner.hpp
========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_custom_planners_pure_spinning_local_planner_include_pure_spinning_local_planner_pure_spinning_local_planner.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_local_planner/include/pure_spinning_local_planner/pure_spinning_local_planner.hpp``)

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.. code-block:: cpp

   // 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 <dynamic_reconfigure/server.h>
   //#include <pure_spinning_local_planner/PureSpinningLocalPlannerConfig.h>
   #include <tf2/transform_datatypes.h>
   #include <tf2_ros/buffer.h>
   
   #include <Eigen/Eigen>
   #include <geometry_msgs/msg/pose_stamped.hpp>
   #include <geometry_msgs/msg/quaternion.hpp>
   #include <nav2_core/controller.hpp>
   #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
   #include <visualization_msgs/msg/marker_array.hpp>
   
   typedef double meter;
   typedef double rad;
   typedef double rad_s;
   
   namespace cl_nav2z
   {
   namespace pure_spinning_local_planner
   {
   class PureSpinningLocalPlanner : public nav2_core::Controller
   {
   public:
     PureSpinningLocalPlanner();
   
     virtual ~PureSpinningLocalPlanner();
   
     void configure(
       const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name,
       const std::shared_ptr<tf2_ros::Buffer> tf,
       const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
   
     void activate() override;
     void deactivate() override;
     void cleanup() override;
   
     void setPlan(const nav_msgs::msg::Path & path) override;
   
     virtual geometry_msgs::msg::TwistStamped computeVelocityCommands(
       const geometry_msgs::msg::PoseStamped & pose, const geometry_msgs::msg::Twist & velocity,
       nav2_core::GoalChecker * goal_checker) override;
   
     /*deprecated in navigation2*/
     bool isGoalReached();
   
     virtual void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
   
   private:
     void updateParameters();
     nav2_util::LifecycleNode::SharedPtr nh_;
     std::string name_;
     void publishGoalMarker(double x, double y, double phi);
   
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmapRos_;
   
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>>
       goalMarkerPublisher_;
   
     std::vector<geometry_msgs::msg::PoseStamped> plan_;
   
     std::shared_ptr<tf2_ros::Buffer> tf_;
   
     double k_betta_;
     bool goalReached_;
     int currentPoseIndex_;
     rad yaw_goal_tolerance_;
     rad intermediate_goal_yaw_tolerance_;
     rad_s max_angular_z_speed_;
     double transform_tolerance_;
     bool use_shortest_angular_distance_;
   };
   }  // namespace pure_spinning_local_planner
   }  // namespace cl_nav2z