Program Listing for File truncate_path_action.hpp
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// Copyright (c) 2018 Intel Corporation
// Copyright (c) 2020 Francisco Martin Rico
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__TRUNCATE_PATH_ACTION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__TRUNCATE_PATH_ACTION_HPP_
#include <memory>
#include <string>
#include "nav_msgs/msg/path.hpp"
#include "behaviortree_cpp/action_node.h"
namespace nav2_behavior_tree
{
class TruncatePath : public BT::ActionNodeBase
{
public:
TruncatePath(
const std::string & xml_tag_name,
const BT::NodeConfiguration & conf);
static BT::PortsList providedPorts()
{
return {
BT::InputPort<nav_msgs::msg::Path>("input_path", "Original Path"),
BT::OutputPort<nav_msgs::msg::Path>("output_path", "Path truncated to a certain distance"),
BT::InputPort<double>("distance", 1.0, "distance"),
};
}
private:
void halt() override {}
BT::NodeStatus tick() override;
double distance_;
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__TRUNCATE_PATH_ACTION_HPP_