.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_navigate_backwards.hpp:

Program Listing for File cb_navigate_backwards.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_navigate_backwards.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_backwards.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/odom_tracker/odom_tracker.hpp>
   
   #include <optional>
   
   #include <nav2z_client/components/waypoints_navigator/waypoints_navigator.hpp>
   #include "cb_nav2z_client_behavior_base.hpp"
   
   namespace cl_nav2z
   {
   // It sends the mobile base some distance backwards
   class CbNavigateBackwards : public CbNav2ZClientBehaviorBase
   {
   public:
     float backwardDistance;
   
     // just a stub to show how to use parameterless constructor
     std::optional<float> backwardSpeed;
   
     std::optional<std::string> goalChecker_;
   
     cl_nav2z::odom_tracker::OdomTracker * odomTracker_;
   
     CbNavigateBackwards(float backwardDistanceMeters);
   
     void onEntry() override;
   
     void onExit() override;
   };
   }  // namespace cl_nav2z