Program Listing for File hover_motion.hpp

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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************
 *  \file       hover_motion.hpp
 *  \brief      This file contains the definition of the HoverMotion class.
 *  \authors    Rafael Pérez Seguí
 *              Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 ********************************************************************************/

#ifndef AS2_MOTION_REFERENCE_HANDLERS__HOVER_MOTION_HPP_
#define AS2_MOTION_REFERENCE_HANDLERS__HOVER_MOTION_HPP_

#include <string>

#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>

#include "as2_core/node.hpp"
#include "as2_motion_reference_handlers/basic_motion_references.hpp"

namespace as2
{
namespace motionReferenceHandlers
{
class HoverMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
{
public:
  explicit HoverMotion(as2::Node * node_ptr, const std::string & ns = "");
  ~HoverMotion()
  {
  }

public:
  bool sendHover();
};

}   // namespace motionReferenceHandlers
}  // namespace as2

#endif  // AS2_MOTION_REFERENCE_HANDLERS__HOVER_MOTION_HPP_