nav2_behavior_tree::IsWithinPathTrackingBoundsCondition Class Reference

A BT::ConditionNode that returns SUCCESS when the current path tracking error is within specified bounds and FAILURE otherwise. More...

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

Inheritance diagram for nav2_behavior_tree::IsWithinPathTrackingBoundsCondition:

Collaboration diagram for nav2_behavior_tree::IsWithinPathTrackingBoundsCondition:

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

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

Protected Attributes
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("IsWithinPathTrackingBoundsCondition")}
double	max_error_left_
double	max_error_right_
double	max_error_heading_
nav2_msgs::msg::TrackingFeedback	tracking_feedback_

Detailed Description

A BT::ConditionNode that returns SUCCESS when the current path tracking error is within specified bounds and FAILURE otherwise.

Usage in XML:

<IsWithinPathTrackingBounds max_error_left="0.5" max_error_right="0.5"
                            max_error_heading="3.14" tracking_feedback="{tracking_feedback}"/>

Definition at line 38 of file is_within_path_tracking_bounds_condition.hpp.

Constructor & Destructor Documentation

IsWithinPathTrackingBoundsCondition()

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

A constructor for nav2_behavior_tree::IsWithinPathTrackingBoundsCondition.

Parameters

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

Definition at line 20 of file is_within_path_tracking_bounds_condition.cpp.

Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

BT::PortsList Containing node-specific ports

Definition at line 67 of file is_within_path_tracking_bounds_condition.hpp.

tick()

BT::NodeStatus nav2_behavior_tree::IsWithinPathTrackingBoundsCondition::tick ( )

override

The main override required by a BT action.

Returns

BT::NodeStatus Status of tick execution

Definition at line 49 of file is_within_path_tracking_bounds_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/is_within_path_tracking_bounds_condition.hpp
• nav2_behavior_tree/plugins/condition/is_within_path_tracking_bounds_condition.cpp