snp_application::UpdateTrajectoryStartStateNode Class Reference

Updates the start state of the input trajectory with the current state of the robot, assuming the two are within some threshold of one another.

Inheritance diagram for snp_application::UpdateTrajectoryStartStateNode:

Public Member Functions
	UpdateTrajectoryStartStateNode (const std::string &instance_name, const BT::NodeConfig &config, rclcpp::Node::SharedPtr node)

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

Static Public Attributes
static const std::string	START_JOINT_STATE_INPUT_PORT_KEY = "joint_state"
static const std::string	TRAJECTORY_INPUT_PORT_KEY = "input_trajectory"
static const std::string	REPLACEMENT_TOLERANCE_INPUT_KEY = "replacement_tolerance"
static const std::string	TRAJECTORY_OUTPUT_PORT_KEY = "output"

Protected Member Functions
BT::NodeStatus	tick () override

Protected Attributes
rclcpp::Node::SharedPtr	node_