.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_components_goal_checker_switcher_goal_checker_switcher.hpp:

Program Listing for File goal_checker_switcher.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_components_goal_checker_switcher_goal_checker_switcher.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/goal_checker_switcher/goal_checker_switcher.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 <string>
   
   #include <rclcpp/rclcpp.hpp>
   #include <smacc2/component.hpp>
   #include <std_msgs/msg/string.hpp>
   
   namespace cl_nav2z
   {
   // this class is used to switch the current goal checker of the remote navigation2 stack controller
   class GoalCheckerSwitcher : public smacc2::ISmaccComponent
   {
   public:
     GoalCheckerSwitcher(
       std::string goal_checker_selector_topic = "goal_checker_selector",
       std::string default_goal_checker_name = "goal_checker");
     void onInitialize() override;
     virtual ~GoalCheckerSwitcher();
     void setDefaultGoalChecker();
     void setGoalCheckerId(std::string goal_checker_id);
   
   private:
     std::string goal_checker_selector_topic_;
     std::string default_goal_checker_name_;
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr goal_checker_selector_pub_;
   };
   }  // namespace cl_nav2z