Sending multiple Goals to robot by cpp code

edit

after testing the sending a simpleGoal to my robot i based on http://wiki.ros.org/navigation/Tutori... and it working well i focus now on sending multiple goals when it reached the first one go to the second one ... it's possible if yes help with documentations or example NB: i am programming with cpp :)

Update:

i tried with this what do you think about it

#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;


bool one_move(move_base_msgs::MoveBaseGoal goal) {
  goal.target_pose.header.frame_id = "base_link";
  goal.target_pose.header.stamp = ros::Time::now();

      ac.sendGoal(goal);
      ac.waitForResult();
      if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
           return true;
      else
           return false;
        }



int main(int argc, char** argv){
  ros::init(argc, argv, "simple_navigation_goals");

  //tell the action client that we want to spin a thread by default
  MoveBaseClient ac("move_base", true);

  //wait for the action server to come up
  while(!ac.waitForServer(ros::Duration(5.0))){
    ROS_INFO("Waiting for the move_base action server to come up");
  }

  move_base_msgs::MoveBaseGoal goal[3];


  goal[0].target_pose.pose.position.x = 0.7783;
  goal[0].target_pose.pose.position.y = -0.0390;
  goal[0].target_pose.pose.position.z = 0.0;

  goal[0].target_pose.pose.orientation.x = 0.0;
  goal[0].target_pose.pose.orientation.y = 0.0;
  goal[0].target_pose.pose.orientation.z = 0.0182;
  goal[0].target_pose.pose.orientation.w = 0.99910;

  goal[1].target_pose.pose.position.x = 0.7783;
  goal[1].target_pose.pose.position.y = -0.0390;
  goal[1].target_pose.pose.position.z = 0.0;

  goal[1].target_pose.pose.orientation.x = 0.0;
  goal[1].target_pose.pose.orientation.y = 0.0;
  goal[1].target_pose.pose.orientation.z = 0.0182;
  goal[1].target_pose.pose.orientation.w = 0.99910;

  goal[2].target_pose.pose.position.x = 0.7783;
  goal[2].target_pose.pose.position.y = -0.0390;
  goal[2].target_pose.pose.position.z = 0.0;

  goal[2].target_pose.pose.orientation.x = 0.0;
  goal[2].target_pose.pose.orientation.y = 0.0;
  goal[2].target_pose.pose.orientation.z = 0.0182;
  goal[2].target_pose.pose.orientation.w = 0.99910;

  //we'll send a goal to the robot to move 1 meter forward


 ROS_INFO("Sending goal1");
for(int i=0; i<3; i++)
 {
    if(one_move(goal[i])
     {
      ROS_INFO("Hooray, the %f goal reached",i);
     }
    else 
   {
      ROS_INFO("The the %f goal doesn't reached for some reason",i)
   return 0;
  }     
}