cb_navigate_forward.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 <tf/transform_listener.h>
#include <move_base_z_client_plugin/components/odom_tracker/odom_tracker.h>
 
namespace cl_move_base_z
{
    class CbNavigateForward : public CbMoveBaseClientBehaviorBase
    {
    public:
        boost::optional<float> forwardDistance;
 
        // just a stub to show how to use parameterless constructor
        boost::optional<float> forwardSpeed;
 
        // this may be useful in the case you want to do a stright line with some orientation
        // relative to some global reference (trying to solve the initial orientation error
        // of the current orientation). If it is not set, the orientation of the straight line is
        // the orientation of the initial state.
        boost::optional<geometry_msgs::Quaternion> forceInitialOrientation;
 
        tf::TransformListener listener;
 
        odom_tracker::OdomTracker *odomTracker_;
 
        CbNavigateForward(float forwardDistance);
 
        CbNavigateForward();
 
        virtual void onEntry() override;
 
        virtual void onExit() override;
    };
} // namespace cl_move_base_z