cb_follow_waypoints.hpp

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// Copyright 2025 Robosoft 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.
 
#pragma once
 
#include <array>
#include <cmath>
#include <smacc2/smacc.hpp>
#include <vector>
 
namespace cl_px4_mr
{
 
class CpTrajectorySetpoint;
class CpGoalChecker;
 
class CbFollowWaypoints : public smacc2::SmaccAsyncClientBehavior
{
public:
  CbFollowWaypoints(
    std::vector<std::array<float, 4>> waypoints, float xyTol = 0.5f, float zTol = 0.3f);
 
  void onEntry() override;
  void onExit() override;
 
private:
  void onGoalReachedCallback();
  void commandCurrentWaypoint();
 
  std::vector<std::array<float, 4>> waypoints_;
  float xyTol_;
  float zTol_;
  size_t currentIndex_ = 0;
 
  CpTrajectorySetpoint * trajectorySetpoint_ = nullptr;
  CpGoalChecker * goalChecker_ = nullptr;
};
 
}  // namespace cl_px4_mr