move_base_z_client_plugin.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <smacc/smacc.h>
#include <smacc/client_bases/smacc_action_client_base.h>
 
#include <move_base_msgs/MoveBaseAction.h>
#include <move_base_z_client_plugin/components/planner_switcher/planner_switcher.h>
 
namespace cl_move_base_z
{
class WaypointNavigator;
 
class ClMoveBaseZ : public smacc::client_bases::SmaccActionClientBase<move_base_msgs::MoveBaseAction>
{
    typedef SmaccActionClientBase<move_base_msgs::MoveBaseAction> Base;
 
public:
    typedef SmaccActionClientBase<move_base_msgs::MoveBaseAction>::ResultConstPtr ResultConstPtr;
 
    ClMoveBaseZ(std::string moveBaseName="/move_base");
 
    virtual ~ClMoveBaseZ();
 
    virtual void initialize() override;
 
    virtual std::string getName() const override;
};
 
} // namespace smacc