nav2_core::NavigatorMuxer Class Reference

A class to control the state of the BT navigator by allowing only a single plugin to be processed at a time. More...

#include <nav2_core/include/nav2_core/behavior_tree_navigator.hpp>

Collaboration diagram for nav2_core::NavigatorMuxer:

Public Member Functions
	NavigatorMuxer ()
	A Navigator Muxer constructor.
bool	isNavigating ()
	Get the navigator muxer state. More...
void	startNavigating (const std::string &navigator_name)
	Start navigating with a given navigator. More...
void	stopNavigating (const std::string &navigator_name)
	Stop navigating with a given navigator. More...

Protected Attributes
std::string	current_navigator_
std::mutex	mutex_

Detailed Description

A class to control the state of the BT navigator by allowing only a single plugin to be processed at a time.

Definition at line 50 of file behavior_tree_navigator.hpp.

Member Function Documentation

isNavigating()

bool nav2_core::NavigatorMuxer::isNavigating ( )

inline

Get the navigator muxer state.

Returns

bool If a navigator is in progress

Definition at line 63 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::onGoalReceived().

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startNavigating()

void nav2_core::NavigatorMuxer::startNavigating ( const std::string &  navigator_name )

inline

Start navigating with a given navigator.

Parameters

string

Name of the navigator to start

Definition at line 73 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::onGoalReceived().

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stopNavigating()

void nav2_core::NavigatorMuxer::stopNavigating ( const std::string &  navigator_name )

inline

Stop navigating with a given navigator.

Parameters

string

Name of the navigator ending task

Definition at line 90 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::onCompletion().

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

• nav2_core/include/nav2_core/behavior_tree_navigator.hpp