navigation_test.cpp File Reference

#include "behaviortree_cpp_v3/xml_parsing.h"
#include "behaviortree_cpp_v3/blackboard.h"
#include <gtest/gtest.h>

Include dependency graph for navigation_test.cpp:

Go to the source code of this file.

Classes
class	BackUpAndSpin
class	ComputePathToPose
class	FollowPath
class	IsStuck
class	TestNode

Typedefs
using	Milliseconds = std::chrono::milliseconds

Functions
std::chrono::high_resolution_clock::time_point	Now ()
	TEST (Navigationtest, MoveBaseRecovery)
template<typename Original , typename Casted >
void	TryDynamicCastPtr (Original *ptr, Casted *&destination)

Variables
static const char *	xml_text

Typedef Documentation

using Milliseconds = std::chrono::milliseconds

Definition at line 36 of file navigation_test.cpp.

Function Documentation

std::chrono::high_resolution_clock::time_point Now ( )

inline

Definition at line 38 of file navigation_test.cpp.

TEST	(	Navigationtest	,
		MoveBaseRecovery
	)

Definition at line 164 of file navigation_test.cpp.

template<typename Original , typename Casted >

void TryDynamicCastPtr	(	Original *	ptr,
		Casted *&	destination
	)

Definition at line 154 of file navigation_test.cpp.

Variable Documentation

const char* xml_text

static

Initial value:

= R"(

<root main_tree_to_execute="BehaviorTree">
    <BehaviorTree ID="BehaviorTree">
        <Fallback name="root">

            <ReactiveSequence name="navigation_subtree">
                <Inverter>
                    <Condition ID="IsStuck"/>
                </Inverter>
                <SequenceStar name="navigate">
                    <Action ID="ComputePathToPose"/>
                    <Action ID="FollowPath"/>
                </SequenceStar>
            </ReactiveSequence>

            <SequenceStar name="stuck_recovery">
                <Condition ID="IsStuck"/>
                <Action ID="BackUpAndSpin"/>
            </SequenceStar>

        </Fallback>
    </BehaviorTree>
</root>
 )"

Definition at line 8 of file navigation_test.cpp.