15 #ifndef BEHAVIOR_TREE_PLUGIN__PEDESTRIAN__PEDESTRIAN_ACTION_NODE_HPP_
16 #define BEHAVIOR_TREE_PLUGIN__PEDESTRIAN__PEDESTRIAN_ACTION_NODE_HPP_
18 #include <behaviortree_cpp_v3/action_node.h>
23 #include <traffic_simulator_msgs/msg/pedestrian_parameters.hpp>
35 return BT::PortsList({
36 BT::InputPort<traffic_simulator_msgs::msg::BehaviorParameter>(
"behavior_parameter"),
37 BT::InputPort<traffic_simulator_msgs::msg::PedestrianParameters>(
"pedestrian_parameters"),
Definition: action_node.hpp:43
static BT::PortsList providedPorts()
Definition: action_node.hpp:77
std::optional< double > target_speed
Definition: action_node.hpp:123
Definition: pedestrian_action_node.hpp:28
PedestrianActionNode(const std::string &name, const BT::NodeConfiguration &config)
Definition: pedestrian_action_node.cpp:25
static BT::PortsList providedPorts()
Definition: pedestrian_action_node.hpp:32
void getBlackBoardValues() override
Definition: pedestrian_action_node.cpp:31
traffic_simulator_msgs::msg::PedestrianParameters pedestrian_parameters
Definition: pedestrian_action_node.hpp:41
traffic_simulator_msgs::msg::BehaviorParameter behavior_parameter
Definition: pedestrian_action_node.hpp:47
auto calculateUpdatedEntityStatus(double target_speed) const -> traffic_simulator::EntityStatus
Definition: pedestrian_action_node.cpp:44
auto calculateUpdatedEntityStatusInWorldFrame(double target_speed) const -> traffic_simulator::EntityStatus
Definition: pedestrian_action_node.cpp:51
Definition: action_node.hpp:39
traffic_simulator_msgs::msg::EntityStatus EntityStatus
Definition: entity_status.hpp:25
std::string string
Definition: junit5.hpp:26