Program Listing for File initial_pose_received_condition.hpp
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// Copyright (c) 2019 Intel Corporation
//
// 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__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_
#include <string>
#include "behaviortree_cpp/behavior_tree.h"
namespace nav2_behavior_tree
{
class InitialPoseReceived : public BT::ConditionNode
{
public:
InitialPoseReceived(
const std::string & name,
const BT::NodeConfiguration & config);
static BT::PortsList providedPorts()
{
return {BT::InputPort<bool>("initial_pose_received")};
}
BT::NodeStatus tick() override;
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_