A BT::ConditionNode that tracks robot odometry and returns SUCCESS if robot is considered stopped for long enough, RUNNING if stopped but not for long enough and FAILURE otherwise. More...

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

Inheritance diagram for nav2_behavior_tree::IsStoppedCondition:

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Collaboration diagram for nav2_behavior_tree::IsStoppedCondition:

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

	~IsStoppedCondition () override
	A destructor for nav2_behavior_tree::IsStoppedCondition.

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 tracks robot odometry and returns SUCCESS if robot is considered stopped for long enough, RUNNING if stopped but not for long enough and FAILURE otherwise.

Definition at line 39 of file is_stopped_condition.hpp.

Constructor & Destructor Documentation

◆ IsStoppedCondition()

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

A constructor for nav2_behavior_tree::IsStoppedCondition.

Parameters

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

Definition at line 23 of file is_stopped_condition.cpp.

Member Function Documentation

◆ providedPorts()

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

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing node-specific ports

Definition at line 68 of file is_stopped_condition.hpp.

◆ tick()

BT::NodeStatus nav2_behavior_tree::IsStoppedCondition::tick ( )

override

The main override required by a BT action.

Returns: BT::NodeStatus Status of tick execution

Definition at line 41 of file is_stopped_condition.cpp.

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

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp
nav2_behavior_tree/plugins/condition/is_stopped_condition.cpp