.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_custom_planners_backward_global_planner_include_backward_global_planner_backward_global_planner.hpp:

Program Listing for File backward_global_planner.hpp
====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_nav2z_client_custom_planners_backward_global_planner_include_backward_global_planner_backward_global_planner.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/include/backward_global_planner/backward_global_planner.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 <nav2_core/global_planner.hpp>
   #include <nav_msgs/msg/path.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <visualization_msgs/msg/marker_array.hpp>
   
   namespace cl_nav2z
   {
   namespace backward_global_planner
   {
   class BackwardGlobalPlanner : public nav2_core::GlobalPlanner
   {
   public:
     BackwardGlobalPlanner();
   
     virtual ~BackwardGlobalPlanner();
   
     virtual void configure(
       const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name,
       std::shared_ptr<tf2_ros::Buffer> tf,
       std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros);
   
     virtual void cleanup();
   
     virtual void activate();
   
     virtual void deactivate();
   
     virtual nav_msgs::msg::Path createPlan(
       const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal);
   
   private:
     // rclcpp::Node::SharedPtr nh_;
     rclcpp_lifecycle::LifecycleNode::SharedPtr nh_;
   
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> planPub_;
   
     std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::MarkerArray>>
       markersPub_;
   
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
   
     void onForwardTrailMsg(const nav_msgs::msg::Path::ConstSharedPtr & trailMessage);
   
     void publishGoalMarker(const geometry_msgs::msg::Pose & pose, double r, double g, double b);
     void cleanMarkers();
   
     double skip_straight_motion_distance_;  //meters
   
     double puresSpinningRadStep_;  // rads
   
     std::string name_;
   
     std::shared_ptr<tf2_ros::Buffer> tf_;
   
     double transform_tolerance_;
   
     void createDefaultBackwardPath(
       const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal,
       std::vector<geometry_msgs::msg::PoseStamped> & plan);
   };
   }  // namespace backward_global_planner
   }  // namespace cl_nav2z