nav2_behavior_tree::IsBatteryChargingCondition Class Reference

A BT::ConditionNode that listens to a battery topic and returns SUCCESS when battery is charging and FAILURE otherwise. More...

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

Inheritance diagram for nav2_behavior_tree::IsBatteryChargingCondition:

Collaboration diagram for nav2_behavior_tree::IsBatteryChargingCondition:

Public Member Functions
	IsBatteryChargingCondition (const std::string &condition_name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::IsBatteryChargingCondition. 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::ConditionNode that listens to a battery topic and returns SUCCESS when battery is charging 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 is_battery_charging_condition.hpp.

Constructor & Destructor Documentation

IsBatteryChargingCondition()

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

A constructor for nav2_behavior_tree::IsBatteryChargingCondition.

Parameters

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

Definition at line 22 of file is_battery_charging_condition.cpp.

Member Function Documentation

providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns

BT::PortsList Containing node-specific ports

Definition at line 59 of file is_battery_charging_condition.hpp.

tick()

BT::NodeStatus nav2_behavior_tree::IsBatteryChargingCondition::tick ( )

override

The main override required by a BT action.

Returns

BT::NodeStatus Status of tick execution

Definition at line 62 of file is_battery_charging_condition.cpp.

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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_battery_charging_condition.hpp
• nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp