Class SetMode

Defined in File set_mode.h

Inheritance Relationships

Base Type

public hateb_local_planner::StatefulActionNodeROS (Class StatefulActionNodeROS)

Class Documentation

class SetMode : public hateb_local_planner::StatefulActionNodeROS 

Class implementing a behavior tree action node to set planning mode.

This class provides functionality to set planning modes in CoHAN. It inherits from StatefulActionNodeROS to integrate with ROS and behavior tree framework.

Public Functions

SetMode(ros::NodeHandle &nh, const std::string &name, const BT::NodeConfig &config)

Constructor with ROS node handle and behavior tree configuration.

Parameters:

nh – The ROS node handle for communication
name – Name of the behavior tree node
config – Configuration for the behavior tree node

SetMode() = delete: Deleted default constructor to enforce proper initialization.

~SetMode() override: Virtual destructor for cleanup.

virtual BT::NodeStatus onStart() override

Method called when the node is first ticked.

Returns:: Status of the node after starting

virtual BT::NodeStatus onRunning() override

Method called while the node is running.

Returns:: Current status of the node

virtual void onHalted() override: Method called when the node is halted.

Public Static Functions

static inline BT::PortsList providedPorts()

Defines input and output ports for the behavior tree node.

Returns:: Ports list containing plan_type and predict_type as inputs and mode as output

Private Members

std::string name_: Name of the behavior tree node.

ros::Publisher planning_mode_pub_: Publisher for planning mode messages.

std::string plan_type_: Type of planning mode to use.

std::string predict_type_: Type of prediction to use.

ModeInfo p_msg_: Message containing mode information.