Class TruncatePathLocal

Inheritance Relationships

Base Type

  • public BT::ActionNodeBase

Class Documentation

class TruncatePathLocal : public BT::ActionNodeBase

A BT::ActionNodeBase to shorten path to some distance around robot.

Public Functions

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

A nav2_behavior_tree::TruncatePathLocal 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