A BT::DecoratorNode that ticks its child every time when the length of the new path is smaller than the old one by the length given by the user. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.hpp>

Inheritance diagram for nav2_behavior_tree::PathLongerOnApproach:

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Collaboration diagram for nav2_behavior_tree::PathLongerOnApproach:

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Public Member Functions
	PathLongerOnApproach (const std::string &name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::PathLongerOnApproach. More...

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...

Detailed Description

A BT::DecoratorNode that ticks its child every time when the length of the new path is smaller than the old one by the length given by the user.

Usage in XML:

<PathLongerOnApproach path="{path}" prox_len="3.0" length_factor="2.0">
    <!--Add tree components here-->
</PathLongerOnApproach>

Definition at line 44 of file path_longer_on_approach.hpp.

Constructor & Destructor Documentation

◆ PathLongerOnApproach()

nav2_behavior_tree::PathLongerOnApproach::PathLongerOnApproach	(	const std::string &	name,
		const BT::NodeConfiguration &	conf
	)

A constructor for nav2_behavior_tree::PathLongerOnApproach.

Parameters

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

Definition at line 26 of file path_longer_on_approach.cpp.

Member Function Documentation

◆ providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing node-specific ports

Definition at line 60 of file path_longer_on_approach.hpp.

◆ tick()

BT::NodeStatus nav2_behavior_tree::PathLongerOnApproach::tick ( )

inlineoverride

The main override required by a BT action.

Returns: BT::NodeStatus Status of tick execution

Definition at line 51 of file path_longer_on_approach.cpp.

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

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.hpp
nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp