.. _program_listing_file__tmp_ws_src_mocap4r2_mocap4r2_control_mocap4r2_control_include_mocap4r2_control_AuxiliarNode.hpp:

Program Listing for File AuxiliarNode.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mocap4r2_mocap4r2_control_mocap4r2_control_include_mocap4r2_control_AuxiliarNode.hpp>` (``/tmp/ws/src/mocap4r2/mocap4r2_control/mocap4r2_control/include/mocap4r2_control/AuxiliarNode.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 Intelligent Robotics Lab
   //
   // 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.
   
   #ifndef MOCAP4R2_CONTROL__AUXILIARNODE_HPP_
   #define MOCAP4R2_CONTROL__AUXILIARNODE_HPP_
   
   #include <string>
   
   #include "mocap4r2_control/ControlledLifecycleNode.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   #include "rclcpp_lifecycle/lifecycle_node.hpp"
   
   namespace mocap4r2_control
   {
   class AuxiliarNode : public ControlledLifecycleNode
   {
   public:
     explicit AuxiliarNode(const std::string & system_id);
   
   protected:
     using CallbackReturnT =
       rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
   
     CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);
   
     void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) final;
     void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) final;
   };
   
   }  // namespace mocap4r2_control
   
   #endif  // MOCAP4R2_CONTROL__AUXILIARNODE_HPP_