Class CbNav2ZClientBehaviorBase

Defined in File cb_nav2z_client_behavior_base.hpp

Inheritance Relationships

Base Type

public smacc2::SmaccAsyncClientBehavior

Derived Types

public cl_nav2z::CbAbsoluteRotate (Class CbAbsoluteRotate)
public cl_nav2z::CbNavigateBackwards (Class CbNavigateBackwards)
public cl_nav2z::CbNavigateForward (Class CbNavigateForward)
public cl_nav2z::CbNavigateGlobalPosition (Class CbNavigateGlobalPosition)
public cl_nav2z::CbNavigateNextWaypoint (Class CbNavigateNextWaypoint)
public cl_nav2z::CbRotate (Class CbRotate)
public cl_nav2z::CbUndoPathBackwards (Class CbUndoPathBackwards)

Class Documentation

class CbNav2ZClientBehaviorBase : public smacc2::SmaccAsyncClientBehavior 

Subclassed by cl_nav2z::CbAbsoluteRotate, cl_nav2z::CbNavigateBackwards, cl_nav2z::CbNavigateForward, cl_nav2z::CbNavigateGlobalPosition, cl_nav2z::CbNavigateNextWaypoint, cl_nav2z::CbRotate, cl_nav2z::CbUndoPathBackwards

Public Functions

virtual ~CbNav2ZClientBehaviorBase()

template<typename TOrthogonal, typename TSourceObject> inline void onOrthogonalAllocation()

Protected Functions

void sendGoal(ClNav2Z::Goal &goal)

void cancelGoal()

bool isOwnActionResponse(const ClNav2Z::WrappedResult&)

virtual void onNavigationResult(const ClNav2Z::WrappedResult&)

virtual void onNavigationActionSuccess(const ClNav2Z::WrappedResult&)

virtual void onNavigationActionAbort(const ClNav2Z::WrappedResult&)

Protected Attributes

cl_nav2z::ClNav2Z *nav2zClient_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr navigationCallback_

rclcpp_action::ResultCode navigationResult_

std::shared_future<std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose>>> goalHandleFuture_