Class TransformAvailableCondition

• Defined in File transform_available_condition.hpp

Inheritance Relationships

Base Type

• public BT::ConditionNode

Class Documentation

class TransformAvailableCondition : public BT::ConditionNode

A BT::ConditionNode that returns SUCCESS if there is a valid transform between two specified frames and FAILURE otherwise.

Public Functions

TransformAvailableCondition(const std::string &condition_name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::TransformAvailableCondition.

Parameters:

• condition_name – Name for the XML tag for this node

• conf – BT node configuration

TransformAvailableCondition() = delete

~TransformAvailableCondition()

A destructor for nav2_behavior_tree::TransformAvailableCondition.

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