nav2_behavior_tree::ArePosesNearCondition Class Reference

A BT::ConditionNode that returns SUCCESS when a specified goal is reached and FAILURE otherwise. More...

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

Inheritance diagram for nav2_behavior_tree::ArePosesNearCondition:

Collaboration diagram for nav2_behavior_tree::ArePosesNearCondition:

Public Member Functions
	ArePosesNearCondition (const std::string &condition_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::ArePosesNearCondition. More...
	~ArePosesNearCondition () override=default
	A destructor for nav2_behavior_tree::ArePosesNearCondition.
BT::NodeStatus	tick () override
	The main override required by a BT action. More...
void	initialize ()
	Function to read parameters and initialize class variables.
bool	arePosesNearby ()
	Checks if the current robot pose lies within a given distance from the goal. More...

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

Detailed Description

A BT::ConditionNode that returns SUCCESS when a specified goal is reached and FAILURE otherwise.

Definition at line 33 of file are_poses_near_condition.hpp.

Constructor & Destructor Documentation

ArePosesNearCondition()

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

A constructor for nav2_behavior_tree::ArePosesNearCondition.

Parameters

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

Definition at line 27 of file are_poses_near_condition.cpp.

Member Function Documentation

arePosesNearby()

bool nav2_behavior_tree::ArePosesNearCondition::arePosesNearby

(

)

Checks if the current robot pose lies within a given distance from the goal.

Returns

bool true when goal is reached, false otherwise

Definition at line 56 of file are_poses_near_condition.cpp.

Referenced by tick().

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providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

BT::PortsList Containing node-specific ports

Definition at line 71 of file are_poses_near_condition.hpp.

tick()

BT::NodeStatus nav2_behavior_tree::ArePosesNearCondition::tick ( )

override

The main override required by a BT action.

Returns

BT::NodeStatus Status of tick execution

Definition at line 44 of file are_poses_near_condition.cpp.

References arePosesNearby(), and 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/are_poses_near_condition.hpp
• nav2_behavior_tree/plugins/condition/are_poses_near_condition.cpp