cb_go_to_location.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 <cl_px4_mr/client_behaviors/cb_px4_client_behavior_base.hpp>
 
#include <cmath>
#include <smacc2/smacc.hpp>
 
namespace cl_px4_mr
{
 
class CpTrajectorySetpoint;
class CpGoalChecker;
 
class CbGoToLocation : public CbPx4ClientBehaviorBase
{
public:
  CbGoToLocation(
    float targetX, float targetY, float targetZ,
    float yaw = std::numeric_limits<float>::quiet_NaN());
 
  // Override the target before onEntry (e.g. from the owning state's
  // runtimeConfigure, when the destination is only known at runtime).
  // targetZ is raw NED (negative = up).
  void setTarget(
    float targetX, float targetY, float targetZ,
    float yaw = std::numeric_limits<float>::quiet_NaN());
 
  void onEntry() override;
 
  void wireCompletionSignals() override;
  void onExit() override;
 
private:
  void onGoalReachedCallback();
 
  float targetX_;
  float targetY_;
  float targetZ_;
  float yaw_;
};
 
}  // namespace cl_px4_mr