SMACC2
cb_wait_pose.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
24
25namespace cl_nav2z
26{
27// waits a robot pose message. Usually used for the startup synchronization.
29{
30 Map,
32};
33
34// Waits a new pose using the Pose Component
35// the specific pose to wait is configured in that component
37{
38public:
39 // waits a new pose update of the Pose Component
40 CbWaitPose();
41
42 // waits a new pose update of the Pose Component in some reference frame (if there is no connection it will wait)
44
45 virtual ~CbWaitPose();
46
47 template <typename TOrthogonal, typename TSourceObject>
49 {
51 smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
52 }
53
54 void onEntry() override;
55
56protected:
58};
59} // namespace cl_nav2z
cl_nav2z::ClNav2Z * moveBaseClient_
CbWaitPose(WaitPoseStandardReferenceFrame frame)
void onEntry() override
void requiresClient(SmaccClientType *&storage)
WaitPoseStandardReferenceFrame