SMACC2
cb_undo_path_backwards.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20#pragma once
21
22#include <tf2_ros/buffer.h>
23
25
26namespace cl_nav2z
27{
29{
30public:
31 std::optional<std::string> goalChecker_;
32
33 void onEntry() override;
34
35 void onExit() override;
36
37private:
38 std::shared_ptr<tf2_ros::Buffer> listener;
39};
40} // namespace cl_nav2z
std::optional< std::string > goalChecker_
std::shared_ptr< tf2_ros::Buffer > listener