would_a_smoother_recovery_help_condition.cpp

// Copyright (c) 2023 Joshua Wallace
//
// 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.
 
#include "nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.hpp"
#include <memory>
 
namespace nav2_behavior_tree
{
 
WouldASmootherRecoveryHelp::WouldASmootherRecoveryHelp(
  const std::string & condition_name,
  const BT::NodeConfiguration & conf)
: AreErrorCodesPresent(condition_name, conf)
{
  error_codes_to_check_ = {
    ActionResult::UNKNOWN,
    ActionResult::TIMEOUT,
    ActionResult::FAILED_TO_SMOOTH_PATH,
    ActionResult::SMOOTHED_PATH_IN_COLLISION
  };
}
 
}  // namespace nav2_behavior_tree
 
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
  factory.registerNodeType<nav2_behavior_tree::WouldASmootherRecoveryHelp>(
    "WouldASmootherRecoveryHelp");
}