nav2_behavior_tree::TransformAvailableCondition Class Reference

A BT::ConditionNode that returns SUCCESS if there is a valid transform between two specified frames and FAILURE otherwise. More...

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

Inheritance diagram for nav2_behavior_tree::TransformAvailableCondition:

Collaboration diagram for nav2_behavior_tree::TransformAvailableCondition:

Public Member Functions
	TransformAvailableCondition (const std::string &condition_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::TransformAvailableCondition. More...
	~TransformAvailableCondition ()
	A destructor for nav2_behavior_tree::TransformAvailableCondition.
BT::NodeStatus	tick () override
	The main override required by a BT action. More...
void	initialize ()
	Function to read parameters and initialize class variables.

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

Detailed Description

A BT::ConditionNode that returns SUCCESS if there is a valid transform between two specified frames and FAILURE otherwise.

Note

This is an Asynchronous (long-running) node which may return a RUNNING state while executing. It will re-initialize when halted.

Definition at line 35 of file transform_available_condition.hpp.

Constructor & Destructor Documentation

TransformAvailableCondition()

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

A constructor for nav2_behavior_tree::TransformAvailableCondition.

Parameters

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

Definition at line 30 of file transform_available_condition.cpp.

Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

BT::PortsList Containing node-specific ports

Definition at line 69 of file transform_available_condition.hpp.

tick()

BT::NodeStatus nav2_behavior_tree::TransformAvailableCondition::tick ( )

override

The main override required by a BT action.

Returns

BT::NodeStatus Status of tick execution

Definition at line 60 of file transform_available_condition.cpp.

References initialize().

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

• nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp
• nav2_behavior_tree/plugins/condition/transform_available_condition.cpp