.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_navigate_global_position.hpp:

Program Listing for File cb_navigate_global_position.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_global_position.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_global_position.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 <geometry_msgs/msg/point.hpp>
   #include <geometry_msgs/msg/pose.hpp>
   
   #include "cb_nav2z_client_behavior_base.hpp"
   
   namespace cl_nav2z
   {
   struct CbNavigateGlobalPositionOptions
   {
     // std::optional<float> yawTolerance;
     // std::optional<float> yawToleranceX;
     // std::optional<float> yawToleranceY;
   
     std::optional<std::string> goalChecker_;
   
     std::optional<std::string> controllerName_;
   };
   
   class CbNavigateGlobalPosition : public CbNav2ZClientBehaviorBase
   {
   public:
     float goalYaw;
   
     CbNavigateGlobalPositionOptions options;
     geometry_msgs::msg::Point goalPosition;
   
     CbNavigateGlobalPosition();
   
     CbNavigateGlobalPosition(
       float x, float y, float yaw /*radians*/,
       std::optional<CbNavigateGlobalPositionOptions> options = std::nullopt);
   
     void setGoal(const geometry_msgs::msg::Pose & pose);
   
     virtual void onEntry() override;
   
     // This is the substate destructor. This code will be executed when the
     // workflow exits from this substate (that is according to statechart the moment when this object is destroyed)
     void onExit() override;
   
     // auxiliary function that defines the motion that is requested to the navigation2 action server
     void execute();
   
   private:
     void readStartPoseFromParameterServer(ClNav2Z::Goal & goal);
   };
   }  // namespace cl_nav2z