.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_wait_pose.hpp:

Program Listing for File cb_wait_pose.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_wait_pose.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_wait_pose.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/nav2z_client.hpp>
   #include <smacc2/smacc_asynchronous_client_behavior.hpp>
   
   namespace cl_nav2z
   {
   // waits a robot pose message. Usually used for the startup synchronization.
   enum class WaitPoseStandardReferenceFrame
   {
     Map,
     Odometry
   };
   
   // Waits a new pose using the Pose Component
   // the specific pose to wait is configured in that component
   class CbWaitPose : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     // waits a new pose update of the Pose Component
     CbWaitPose();
   
     // waits a new pose update of the Pose Component in some reference frame (if there is no connection it will wait)
     CbWaitPose(WaitPoseStandardReferenceFrame frame);
   
     virtual ~CbWaitPose();
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       this->requiresClient(nav2zClient_);
       smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
     }
   
     void onEntry() override;
   
   protected:
     cl_nav2z::ClNav2Z * nav2zClient_;
   };
   }  // namespace cl_nav2z