Template Class DriveGoalBaseBehavior

• Defined in File drive_goal_behaviors.hpp

Class Documentation

template<typename T>
class DriveGoalBaseBehavior

This class is a common base class that manages an action server for drive goals.

Public Functions

inline DriveGoalBaseBehavior(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface, rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_interface, std::shared_ptr<BehaviorsScheduler> behavior_scheduler, const std::string &server_name)

virtual ~DriveGoalBaseBehavior() = default

virtual void initialize_goal(const typename T::Goal &goal) = 0

virtual bool iterate_on_goal(const tf2::Transform &current_pose, BehaviorsScheduler::optional_output_t &output) = 0

virtual std::shared_ptr<typename T::Feedback> get_feedback(const rclcpp::Duration &time_since_feedback) = 0

Protected Attributes

rclcpp::Logger logger_

rclcpp::Clock::SharedPtr clock_