.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_absolute_rotate.hpp:

Program Listing for File cb_absolute_rotate.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_absolute_rotate.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_absolute_rotate.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. 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 <tf2_ros/buffer.h>
   
   #include "cb_nav2z_client_behavior_base.hpp"
   #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
   
   namespace cl_nav2z
   {
   class CbAbsoluteRotate : public CbNav2ZClientBehaviorBase
   {
   public:
     std::shared_ptr<tf2_ros::Buffer> listener;
   
     float absoluteGoalAngleDegree;
     std::optional<float> yawGoalTolerance;
     std::optional<float> maxVelTheta;  // if not defined, default parameter server
     std::optional<SpinningPlanner> spinningPlanner;
   
     CbAbsoluteRotate();
     CbAbsoluteRotate(float absoluteGoalAngleDegree, float yawGoalTolerance = -1);
   
     void onEntry() override;
     void onExit() override;
   
   private:
     void updateTemporalBehaviorParameters(bool undo);
     float oldYawTolerance;
     float oldMaxVelTheta;
     float oldMinVelTheta;
   };
   }  // namespace cl_nav2z