Class TruncatePath

• Defined in File truncate_path_action.hpp

Inheritance Relationships

Base Type

• public BT::ActionNodeBase

Class Documentation

class TruncatePath : public BT::ActionNodeBase

A BT::ActionNodeBase to shorten path by some distance.

Public Functions

TruncatePath(const std::string &xml_tag_name, const BT::NodeConfiguration &conf)

A nav2_behavior_tree::TruncatePath constructor.

Parameters:

• xml_tag_name – Name for the XML tag for this node

• conf – BT node configuration

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing basic ports along with node-specific ports