Class PathLongerOnApproach

Inheritance Relationships

Base Type

  • public BT::DecoratorNode

Class Documentation

class PathLongerOnApproach : public BT::DecoratorNode

A BT::DecoratorNode that ticks its child every time 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