.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_navigate_forward.hpp:

Program Listing for File cb_navigate_forward.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_forward.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_forward.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/utils.h>
   #include <tf2_ros/buffer.h>
   #include <geometry_msgs/msg/pose_stamped.hpp>
   #include <nav2z_client/components/odom_tracker/odom_tracker.hpp>
   #include <optional>
   #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
   
   #include "cb_nav2z_client_behavior_base.hpp"
   
   namespace cl_nav2z
   {
   struct CbNavigateForwardOptions
   {
     // just a stub to show how to use parameterless constructor
     std::optional<float> forwardSpeed;
   
     // this may be useful in the case you want to do a straight line with some known direction
     // and the robot may not have that specific initial orientation at that moment.
     // If it is not set, the orientation of the straight line is the orientation of the initial (current) state.
     std::optional<geometry_msgs::msg::Quaternion> forceInitialOrientation;
   
     // the name of the goal checker selected in the navigation2 stack
     std::optional<std::string> goalChecker_;
   };
   
   // Performs a relative motion forwards
   class CbNavigateForward : public CbNav2ZClientBehaviorBase
   {
   public:
     CbNavigateForwardOptions options;
   
     CbNavigateForward();
   
     CbNavigateForward(float forwardDistance);
   
     // alternative forward motion using an absolute goal position instead a relative linear distance.
     // It is specially to retry a previous relative incorrect motions based on distance.
     // The developer user is in charge of setting a valid goal position that is located forward
     // from the current position and orientation.
     CbNavigateForward(geometry_msgs::msg::PoseStamped goalPosition);
   
     virtual ~CbNavigateForward();
   
     void onEntry() override;
   
     void onExit() override;
   
     void setForwardDistance(float distance_meters);
   
   protected:
     // required component
     odom_tracker::OdomTracker * odomTracker_;
   
     std::optional<geometry_msgs::msg::PoseStamped> goalPose_;
   
     std::optional<float> forwardDistance_;
   };
   }  // namespace cl_nav2z