Program Listing for File would_a_planner_recovery_help_condition.hpp
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// Copyright (c) 2022 Joshua Wallace
//
// 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__WOULD_A_PLANNER_RECOVERY_HELP_CONDITION_HPP_
#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__WOULD_A_PLANNER_RECOVERY_HELP_CONDITION_HPP_
#include <string>
#include "nav2_msgs/action/compute_path_to_pose.hpp"
#include "nav2_msgs/action/compute_path_through_poses.hpp"
#include "nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp"
namespace nav2_behavior_tree
{
class WouldAPlannerRecoveryHelp : public AreErrorCodesPresent
{
using Action = nav2_msgs::action::ComputePathToPose;
using ActionResult = Action::Result;
using ThroughAction = nav2_msgs::action::ComputePathThroughPoses;
using ThroughActionResult = Action::Result;
public:
WouldAPlannerRecoveryHelp(
const std::string & condition_name,
const BT::NodeConfiguration & conf);
WouldAPlannerRecoveryHelp() = delete;
};
} // namespace nav2_behavior_tree
#endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__WOULD_A_PLANNER_RECOVERY_HELP_CONDITION_HPP_