.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_client_behaviors_cb_wait_transform.hpp:

Program Listing for File cb_wait_transform.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_transform.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_wait_transform.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>
   
   #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
   
   #include <tf2/transform_datatypes.h>
   #include <tf2/utils.h>
   #include <tf2_ros/buffer.h>
   #include <tf2_ros/transform_listener.h>
   
   namespace cl_nav2z
   {
   class CbWaitTransform : public smacc2::SmaccAsyncClientBehavior
   {
   public:
     CbWaitTransform(std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout);
   
     virtual ~CbWaitTransform();
   
     template <typename TOrthogonal, typename TSourceObject>
     void onOrthogonalAllocation()
     {
       smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
     }
   
     void onEntry() override;
   
   protected:
     // shared static listener
     std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
     std::shared_ptr<tf2_ros::TransformListener> tfListener_;
   
     std::string targetFrame_;
     std::string referenceFrame_;
     rclcpp::Duration timeout_;
   
     std::optional<tf2::Stamped<tf2::Transform>> result_;
   };
   }  // namespace cl_nav2z