.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_components_pose_cp_pose.hpp:

Program Listing for File cp_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_components_pose_cp_pose.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/pose/cp_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.
   
   /*****************************************************************************************************************
    *-2020
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   #pragma once
   
   #include <mutex>
   
   #include <geometry_msgs/msg/pose_stamped.h>
   #include <tf2/transform_datatypes.h>
   #include <tf2/utils.h>
   #include <tf2_ros/buffer.h>
   #include <tf2_ros/transform_listener.h>
   #include <geometry_msgs/msg/quaternion_stamped.hpp>
   #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
   
   #include <smacc2/component.hpp>
   #include <smacc2/smacc_updatable.hpp>
   
   namespace cl_nav2z
   {
   enum class StandardReferenceFrames
   {
     Map,
     Odometry
   };
   
   class Pose : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable
   {
   public:
     Pose(std::string poseFrameName = "base_link", std::string referenceFrame = "odom");
   
     Pose(StandardReferenceFrames referenceFrame);
   
     void onInitialize() override;
   
     void update() override;
   
     // synchronously waits a transform in the current thread
     void waitTransformUpdate(rclcpp::Rate r = rclcpp::Rate(20));
   
     inline geometry_msgs::msg::Pose toPoseMsg()
     {
       std::lock_guard<std::mutex> guard(m_mutex_);
       return this->pose_.pose;
     }
   
     inline geometry_msgs::msg::PoseStamped toPoseStampedMsg()
     {
       std::lock_guard<std::mutex> guard(m_mutex_);
       return this->pose_;
     }
   
     // get yaw in radians
     float getYaw();
   
     float getX();
     float getY();
     float getZ();
   
     inline const std::string & getReferenceFrame() const { return referenceFrame_; }
   
     inline const std::string & getFrameId() const { return poseFrameName_; }
   
     bool isInitialized;
   
   private:
     geometry_msgs::msg::PoseStamped pose_;
   
     static std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
     static std::shared_ptr<tf2_ros::TransformListener> tfListener_;
   
     static std::mutex listenerMutex_;
   
     std::string poseFrameName_;
     std::string referenceFrame_;
   
     std::mutex m_mutex_;
   };
   }  // namespace cl_nav2z