Program Listing for File follow_path.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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#ifndef AS2_BEHAVIOR_TREE__ACTION__FOLLOW_PATH_HPP_
#define AS2_BEHAVIOR_TREE__ACTION__FOLLOW_PATH_HPP_

#include <string>
#include <memory>
#include <vector>

#include "as2_behavior_tree/bt_action_node.hpp"

#include "as2_core/names/actions.hpp"
#include "as2_msgs/action/follow_path.hpp"
#include "as2_msgs/msg/pose_with_id.hpp"
#include "as2_msgs/msg/yaw_mode.hpp"

namespace as2_behavior_tree
{
class FollowPathAction
  : public as2_behavior_tree::BtActionNode<as2_msgs::action::FollowPath>
{
public:
  FollowPathAction(
    const std::string & xml_tag_name,
    const BT::NodeConfiguration & conf)
  : as2_behavior_tree::BtActionNode<as2_msgs::action::FollowPath>(
      xml_tag_name, as2_names::actions::behaviors::followpath, conf) {}

  void on_tick()
  {
    getInput("path", path_);
    getInput("speed", max_speed_);
    getInput("yaw_mode", yaw_mode_);
    goal_.path = path_;  // TODO(pariaspe): improve with port_specialization
    goal_.max_speed = max_speed_;
    goal_.yaw.mode = as2_msgs::msg::YawMode::KEEP_YAW;
  }

  static BT::PortsList providedPorts()
  {
    return providedBasicPorts(
      {BT::InputPort<std::vector<as2_msgs::msg::PoseWithID>>("path"),
        BT::InputPort<double>("speed"), BT::OutputPort<int>("yaw_mode")});
  }

  void on_wait_for_result(
    std::shared_ptr<const as2_msgs::action::FollowPath::Feedback> feedback) {}

private:
  std::vector<as2_msgs::msg::PoseWithID> path_;
  double max_speed_;
  int yaw_mode_;
};

}  // namespace as2_behavior_tree

#endif  // AS2_BEHAVIOR_TREE__ACTION__FOLLOW_PATH_HPP_