.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_components_planner_switcher_planner_switcher.hpp:

Program Listing for File planner_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_planner_switcher_planner_switcher.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/planner_switcher/planner_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 <rclcpp/rclcpp.hpp>
   #include <smacc2/client_bases/smacc_action_client.hpp>
   #include <smacc2/component.hpp>
   #include <std_msgs/msg/string.hpp>
   
   namespace cl_nav2z
   {
   // this component is used to switch the current planner and controller interacting
   // with the remote navigation2 stack nodes (bt_navigator, planner_server, controller_server)
   class PlannerSwitcher : public smacc2::ISmaccComponent
   {
   public:
     PlannerSwitcher();
   
     void onInitialize() override;
   
     void setDesiredGlobalPlanner(std::string);
   
     void setDesiredController(std::string);
   
     void commitPublish();
   
     // STANDARD PLANNERS
   
     void setBackwardPlanner(bool commit = true);
   
     void setUndoPathBackwardPlanner(bool commit = true);
   
     void setForwardPlanner(bool commit = true);
   
     void setPureSpinningPlanner(bool commit = true);
   
     // sets ROS defaults local and global planners
     void setDefaultPlanners(bool commit = true);
   
   private:
     std::string desired_planner_;
   
     std::string desired_controller_;
   
     bool set_planners_mode_flag_;
   
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr planner_selector_pub_;
   
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr controller_selector_pub_;
   
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr goal_checker_selector_pub_;
   };
   }  // namespace cl_nav2z