cb_spin.hpp

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// Copyright 2026 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.
 
#pragma once
 
#include <nav2_msgs/action/spin.hpp>
#include <smacc2/client_behavior_bases/cb_action_client_behavior_base.hpp>
 
namespace cl_nav2z
{
 
// Collision-checked in-place rotation via the Nav2 behavior server's Spin
// action (footprint simulated through the local costmap while rotating) -
// unlike CbPureSpinning/CbAbsoluteRotate, which spin blind.
class CbSpin
: public smacc2::client_behavior_bases::CbActionClientBehaviorBase<nav2_msgs::action::Spin>
{
public:
  // relative target yaw in radians; time allowance for the whole maneuver
  CbSpin(float targetYaw, std::chrono::seconds timeAllowance = std::chrono::seconds(30));
 
  void onEntry() override;
 
  // adjust the spin target between staticConfigure and onEntry (runtimeConfigure)
  void setTargetYaw(float targetYaw) { targetYaw_ = targetYaw; }
 
private:
  float targetYaw_;
  std::chrono::seconds timeAllowance_;
};
 
}  // namespace cl_nav2z