nav2_core::NavigatorMuxer Class Reference

A class to control the state of the BT navigator by allowing only a single plugin to be processed at a time. More...

#include <nav2_core/include/nav2_core/behavior_tree_navigator.hpp>

Collaboration diagram for nav2_core::NavigatorMuxer:

Public Member Functions
	NavigatorMuxer ()
	A Navigator Muxer constructor.
bool	isNavigating ()
	Get the navigator muxer state. More...
void	startNavigating (nav2_core::NavigatorBase *navigator)
	Start navigating with a given navigator. More...
void	stopNavigating (nav2_core::NavigatorBase *navigator)
	Stop navigating with a given navigator. More...
void	preemptCurrentNavigator ()
bool	isCurrentNavigator (nav2_core::NavigatorBase *navigator)
	Check if the given navigator is the currently active navigator. More...

Protected Attributes
nav2_core::NavigatorBase *	current_navigator_ {nullptr}
std::mutex	mutex_

Detailed Description

A class to control the state of the BT navigator by allowing only a single plugin to be processed at a time.

Definition at line 98 of file behavior_tree_navigator.hpp.

Member Function Documentation

isCurrentNavigator()

bool nav2_core::NavigatorMuxer::isCurrentNavigator ( nav2_core::NavigatorBase *  navigator )

inline

Check if the given navigator is the currently active navigator.

Parameters

navigator

Navigator to check

Returns

bool If the navigator is the current active one

Definition at line 163 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::onGoalReceived().

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isNavigating()

bool nav2_core::NavigatorMuxer::isNavigating ( )

inline

Get the navigator muxer state.

Returns

bool If a navigator is in progress

Definition at line 111 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::onGoalReceived().

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startNavigating()

void nav2_core::NavigatorMuxer::startNavigating ( nav2_core::NavigatorBase *  navigator )

inline

Start navigating with a given navigator.

Parameters

string

Name of the navigator to start

Definition at line 121 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::onGoalReceived().

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stopNavigating()

void nav2_core::NavigatorMuxer::stopNavigating ( nav2_core::NavigatorBase *  navigator )

inline

Stop navigating with a given navigator.

Parameters

string

Name of the navigator ending task

Definition at line 138 of file behavior_tree_navigator.hpp.

Referenced by nav2_core::BehaviorTreeNavigator< ActionT >::onCompletion().

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

• nav2_core/include/nav2_core/behavior_tree_navigator.hpp