.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_nav2z_client.hpp:

Program Listing for File nav2z_client.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_nav2z_client_include_nav2z_client_nav2z_client.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/nav2z_client.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 <smacc2/client_bases/smacc_action_client_base.hpp>
   #include <smacc2/smacc.hpp>
   
   #include <nav2_msgs/action/navigate_to_pose.hpp>
   //#include <nav2z_client/components/planner_switcher/planner_switcher.hpp>
   
   namespace cl_nav2z
   {
   class ClNav2Z
   : public smacc2::client_bases::SmaccActionClientBase<nav2_msgs::action::NavigateToPose>
   {
   public:
     using smacc2::client_bases::SmaccActionClientBase<nav2_msgs::action::NavigateToPose>::GoalHandle;
     using smacc2::client_bases::SmaccActionClientBase<
       nav2_msgs::action::NavigateToPose>::ResultCallback;
   
     typedef smacc2::SmaccSignal<void(const WrappedResult &)> SmaccNavigateResultSignal;
   
     ClNav2Z(std::string navigateToPoseAction = "/navigate_to_pose");
   
     virtual ~ClNav2Z();
   };
   
   }  // namespace cl_nav2z