Abstract interface for behaviors to adhere to with pluginlib. More...
#include <nav2_core/include/nav2_core/behavior.hpp>
Inheritance diagram for nav2_core::Behavior:
Public Types | |
| using | Ptr = std::shared_ptr< Behavior > |
Public Member Functions | |
| virtual | ~Behavior () |
| Virtual destructor. | |
| virtual void | configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > local_collision_checker, std::shared_ptr< nav2_costmap_2d::CostmapTopicCollisionChecker > global_collision_checker)=0 |
| virtual void | cleanup ()=0 |
| Method to cleanup resources used on shutdown. | |
| virtual void | activate ()=0 |
| Method to active Behavior and any threads involved in execution. | |
| virtual void | deactivate ()=0 |
| Method to deactive Behavior and any threads involved in execution. | |
| virtual CostmapInfoType | getResourceInfo ()=0 |
| Method to determine the required costmap info. More... | |
Detailed Description
Abstract interface for behaviors to adhere to with pluginlib.
Definition at line 41 of file behavior.hpp.
Member Function Documentation
◆ configure()
|
pure virtual |
- Parameters
-
parent pointer to user's node name The name of this planner tf A pointer to a TF buffer costmap_ros A pointer to the costmap
Implemented in nav2_behaviors::TimedBehavior< ActionT >, nav2_behaviors::TimedBehavior< AssistedTeleopAction >, nav2_behaviors::TimedBehavior< nav2_msgs::action::DriveOnHeading >, nav2_behaviors::TimedBehavior< SpinAction >, and nav2_behaviors::TimedBehavior< WaitAction >.
◆ getResourceInfo()
|
pure virtual |
Method to determine the required costmap info.
- Returns
- costmap resources needed
Implemented in nav2_behaviors::Wait, nav2_behaviors::Spin, nav2_behaviors::DriveOnHeading< ActionT >, nav2_behaviors::DriveOnHeading< nav2_msgs::action::BackUp >, and nav2_behaviors::AssistedTeleop.
The documentation for this class was generated from the following file:
- nav2_core/include/nav2_core/behavior.hpp
