A BT::ConditionNode that returns SUCCESS when a specified goal is reached and FAILURE otherwise. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp>

Inheritance diagram for nav2_behavior_tree::GoalReachedCondition:

Collaboration diagram for nav2_behavior_tree::GoalReachedCondition:

Public Member Functions
	GoalReachedCondition (const std::string &condition_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::GoalReachedCondition. More...

	~GoalReachedCondition () override
	A destructor for nav2_behavior_tree::GoalReachedCondition.

BT::NodeStatus	tick () override
	The main override required by a BT action. More...

void	initialize ()
	Function to read parameters and initialize class variables.

bool	isGoalReached ()
	Checks if the current robot pose lies within a given distance from the goal. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Protected Member Functions
void	cleanup ()
	Cleanup function.

Detailed Description

A BT::ConditionNode that returns SUCCESS when a specified goal is reached and FAILURE otherwise.

Definition at line 33 of file goal_reached_condition.hpp.

Constructor & Destructor Documentation

◆ GoalReachedCondition()

nav2_behavior_tree::GoalReachedCondition::GoalReachedCondition	(	const std::string &	condition_name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::GoalReachedCondition.

Parameters

condition_name	Name for the XML tag for this node
conf	BT node configuration

Definition at line 27 of file goal_reached_condition.cpp.

Member Function Documentation

◆ isGoalReached()

bool nav2_behavior_tree::GoalReachedCondition::isGoalReached ( )

Checks if the current robot pose lies within a given distance from the goal.

Returns: bool true when goal is reached, false otherwise

Definition at line 68 of file goal_reached_condition.cpp.

Referenced by tick().

Here is the caller graph for this function:

◆ providedPorts()

static BT::PortsList nav2_behavior_tree::GoalReachedCondition::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing node-specific ports

Definition at line 73 of file goal_reached_condition.hpp.

◆ tick()

BT::NodeStatus nav2_behavior_tree::GoalReachedCondition::tick ( )

override

The main override required by a BT action.

Returns: BT::NodeStatus Status of tick execution

Definition at line 56 of file goal_reached_condition.cpp.

References initialize(), and isGoalReached().

Here is the call graph for this function:

The documentation for this class was generated from the following files:

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp
nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp

Public Member Functions

Static Public Member Functions