cb_navigate_global_position.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include "cb_move_base_client_behavior_base.h"
#include <boost/optional.hpp>
#include <geometry_msgs/Point.h>
 
namespace cl_move_base_z
{
  class CbNavigateGlobalPosition : public CbMoveBaseClientBehaviorBase
  {
  public:
    boost::optional<geometry_msgs::Point> goalPosition;
    boost::optional<float> goalYaw;
 
    //boost::optional<float> goalToleranceXY; // not implemented yet
    //boost::optional<float> yawTolerance; // not implemented yet
 
    CbNavigateGlobalPosition();
 
    CbNavigateGlobalPosition(float x, float y, float yaw /*radians*/);
 
    void setGoal(const geometry_msgs::Pose &pose);
 
    virtual void onEntry();
 
    // auxiliary function that defines the motion that is requested to the move_base action server
    void execute();
 
    void readStartPoseFromParameterServer(ClMoveBaseZ::Goal &goal);
 
    // This is the substate destructor. This code will be executed when the
    // workflow exits from this substate (that is according to statechart the moment when this object is destroyed)
    virtual void onExit() override;
  };
} // namespace cl_move_base_z