Program Listing for File takeoff_action.hpp
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/*!*******************************************************************************************
* \file takeoff_action.hpp
* \brief Takeoff action implementation as behavior tree node
* \authors Pedro Arias Pérez
* Miguel Fernández Cortizas
* David Pérez Saura
* Rafael Pérez Seguí
*
* \copyright Copyright (c) 2022 Universidad Politécnica de Madrid
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#ifndef TAKEOFF_ACTION_HPP
#define TAKEOFF_ACTION_HPP
#include "behaviortree_cpp_v3/action_node.h"
#include "as2_behavior_tree/bt_action_node.hpp"
#include "as2_core/names/actions.hpp"
#include "as2_msgs/action/takeoff.hpp"
#include <chrono>
#include <thread>
namespace as2_behavior_tree {
class TakeoffAction
: public nav2_behavior_tree::BtActionNode<as2_msgs::action::Takeoff> {
public:
TakeoffAction(const std::string &xml_tag_name,
const BT::NodeConfiguration &conf);
void on_tick() override;
BT::NodeStatus on_success() {
using namespace std::chrono_literals;
std::this_thread::sleep_for(500ms);
return BT::NodeStatus::SUCCESS;
}
void on_wait_for_result(
std::shared_ptr<const as2_msgs::action::Takeoff::Feedback> feedback);
static BT::PortsList providedPorts() {
return providedBasicPorts(
{BT::InputPort<double>("height"), BT::InputPort<double>("speed")});
}
public:
std::string action_name_;
};
} // namespace as2_behavior_tree
#endif // TAKEOFF_ACTION_HPP