Class ProgressChecker

• Defined in File progress_checker.hpp

Class Documentation

class ProgressChecker

This class defines the plugin interface used to check the position of the robot to make sure that it is actually progressing towards a goal.

Public Types

typedef std::shared_ptr<nav2_core::ProgressChecker> Ptr

Public Functions

inline virtual ~ProgressChecker()

virtual void initialize(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name) = 0

Initialize parameters for ProgressChecker.

Parameters:

parent – Node pointer

virtual bool check(geometry_msgs::msg::PoseStamped &current_pose) = 0

Checks if the robot has moved compare to previous pose.

Parameters:

current_pose – Current pose of the robot

Returns:

True if progress is made

virtual void reset() = 0

Reset class state upon calling.