26 #ifndef BEHAVIOR_TREE_PLUGIN__PEDESTRIAN__WALK_STRAIGHT_ACTION_HPP_ 
   27 #define BEHAVIOR_TREE_PLUGIN__PEDESTRIAN__WALK_STRAIGHT_ACTION_HPP_ 
   29 #include <behaviortree_cpp_v3/behavior_tree.h> 
   30 #include <behaviortree_cpp_v3/bt_factory.h> 
   36 #include <traffic_simulator_msgs/msg/entity_status.hpp> 
   37 #include <traffic_simulator_msgs/msg/waypoints_array.hpp> 
   57   bool isObstacleInFront(
 
   58     const bool see_around, 
const std::vector<geometry_msgs::msg::Point> waypoints) 
const;
 
   59   bool isEntityColliding(
 
   61     const double & detection_horizon) 
const;
 
   64   static constexpr 
double front_entity_margin = 2.0;
 
   65   bool use_trajectory_based_front_entity_detection_;
 
   66   double trajectory_based_detection_offset_;
 
Definition: pedestrian_action_node.hpp:29
static BT::PortsList providedPorts()
Definition: pedestrian_action_node.hpp:33
Definition: walk_straight_action.hpp:45
void getBlackBoardValues() override
Definition: walk_straight_action.cpp:57
static BT::PortsList providedPorts()
Definition: walk_straight_action.hpp:51
bool checkPreconditions() override
Definition: walk_straight_action.cpp:211
BT::NodeStatus doAction() override
Definition: walk_straight_action.cpp:216
WalkStraightAction(const std::string &name, const BT::NodeConfiguration &config)
Definition: walk_straight_action.cpp:47
Definition: entity_status.hpp:32
Definition: action_node.hpp:43
Definition: operators.hpp:25
std::string string
Definition: junit5.hpp:26