.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_nav2z_client_behavior_base.hpp:

Program Listing for File cb_nav2z_client_behavior_base.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_nav2z_client_behavior_base.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_nav2z_client_behavior_base.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 <nav2z_client/components/planner_switcher/planner_switcher.hpp>
   #include <nav2z_client/nav2z_client.hpp>
   #include <smacc2/smacc_asynchronous_client_behavior.hpp>
   
   namespace cl_nav2z
   {
   class CbNav2ZClientBehaviorBase : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     virtual ~CbNav2ZClientBehaviorBase();
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       this->requiresClient(nav2zClient_);
       smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
     }
   
   protected:
     void sendGoal(ClNav2Z::Goal & goal);
   
     void cancelGoal();
   
     // handling results according its type
     bool isOwnActionResponse(const ClNav2Z::WrappedResult &);
     virtual void onNavigationResult(const ClNav2Z::WrappedResult &);
     virtual void onNavigationActionSuccess(const ClNav2Z::WrappedResult &);
     virtual void onNavigationActionAbort(const ClNav2Z::WrappedResult &);
   
     cl_nav2z::ClNav2Z * nav2zClient_;
     cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr navigationCallback_;
   
     // deprecated
     rclcpp_action::ResultCode navigationResult_;
     std::shared_future<
       std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose> > >
       goalHandleFuture_;
   };
   
   enum class SpinningPlanner
   {
     Default,
     PureSpinning,
     Forward
   };
   }  // namespace cl_nav2z