concatenate_paths_action.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CONCATENATE_PATHS_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CONCATENATE_PATHS_ACTION_HPP_
 
#include <string>
#include <memory>
#include <limits>
 
#include "nav_msgs/msg/path.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_util/geometry_utils.hpp"
 
#include "behaviortree_cpp/action_node.h"
 
namespace nav2_behavior_tree
{
 
class ConcatenatePaths : public BT::ActionNodeBase
{
public:
  ConcatenatePaths(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf);
 
  static BT::PortsList providedPorts()
  {
    return {
      BT::InputPort<nav_msgs::msg::Path>("input_path1", "Input Path 1 to cancatenate"),
      BT::InputPort<nav_msgs::msg::Path>("input_path2", "Input Path 2 to cancatenate"),
      BT::OutputPort<nav_msgs::msg::Path>("output_path", "Paths concatenated"),
    };
  }
 
private:
  void halt() override {}
 
  BT::NodeStatus tick() override;
};
 
}  // namespace nav2_behavior_tree
 
#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__CONCATENATE_PATHS_ACTION_HPP_