cb_undo_path_backwards.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <tf/transform_listener.h>
#include "cb_move_base_client_behavior_base.h"
 
namespace cl_move_base_z
{
enum UndoPathLocalPlanner
{
  BackwardsLocalPlanner, /*default, it is able to move freely backwards, or combined straightsegments with pure spinning
                            segments*/
  PureSpinningLocalPlanner    /*only pure spinnings, be careful it may not be able to undo the path if it was not a pure
                            spinning segment*/
};
 
class CbUndoPathBackwards : public CbMoveBaseClientBehaviorBase
{
public:
  boost::optional<UndoPathLocalPlanner> forceUndoLocalPlanner;
 
  virtual void onEntry() override;
 
  virtual void onExit() override;
 
private:
  tf::TransformListener listener;
};
}  // namespace cl_move_base_z