.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_retry_behavior.hpp:

Program Listing for File cb_retry_behavior.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_retry_behavior.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_retry_behavior.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 "cb_nav2z_client_behavior_base.hpp"
   
   namespace cl_nav2z
   {
   using odom_tracker::OdomTracker;
   
   template <typename TCbRelativeMotion>
   class CbRetry : public TCbRelativeMotion
   {
   public:
     CbRetry() {}
     void onEntry() override
     {
       odomTracker_ = this->nav2zClient_->template getComponent<OdomTracker>();
       auto goal = odomTracker_->getCurrentMotionGoal();
   
       if (goal)
       {
         this->goalPose_ = *goal;
       }
   
       TCbRelativeMotion::onEntry();
     }
   
   private:
     OdomTracker * odomTracker_;
   };
   }  // namespace cl_nav2z