snp_application::ExtractApproachProcessDepartureTrajectoriesNode Class Reference

Extracts an approach, process, and departure trajectory from a nominal trajectory. More...

Detailed Description

The approach trajectory consists of the first two points of the trajectory. The process trajectory consists of points 1 through n-1. The departure trajectory consists of points n-1 and n

Inheritance diagram for snp_application::ExtractApproachProcessDepartureTrajectoriesNode:

Public Member Functions
	ExtractApproachProcessDepartureTrajectoriesNode (const std::string &instance_name, const BT::NodeConfig &config)

Static Public Member Functions
static BT::PortsList	providedPorts ()

Static Public Attributes
static const std::string	TRAJECTORY_INPUT_PORT_KEY = "trajectory"
static const std::string	APPROACH_OUTPUT_PORT_KEY = "approach"
static const std::string	PROCESS_OUTPUT_PORT_KEY = "process"
static const std::string	DEPARTURE_OUTPUT_PORT_KEY = "departure"

Protected Member Functions
BT::NodeStatus	tick () override