Class PathLongerOnApproach

• Defined in File path_longer_on_approach.hpp

Inheritance Relationships

Base Type

• public BT::DecoratorNode

Class Documentation

class PathLongerOnApproach : public BT::DecoratorNode

A BT::DecoratorNode that ticks its child everytime when the length of the new path is smaller than the old one by the length given by the user.

Public Functions

PathLongerOnApproach(const std::string &name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::PathLongerOnApproach.

Parameters:

• name – Name for the XML tag for this node

• conf – BT node configuration

BT::NodeStatus tick() override

The main override required by a BT action.

Returns:

BT::NodeStatus Status of tick execution

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing node-specific ports