IsBlackboardVariableSet Class

Checks whether a blackboard variable holds a value. Returns SUCCESS if the variable has been written to, FAILURE if it does not exist or was only declared by a port or SubTree remap. Wrap it in an Inverter to branch on a variable being unset. More...

Declaration

class moveit_pro::behaviors::IsBlackboardVariableSet { ... }

Included Headers

#include <is_blackboard_variable_set.hpp>

Base class

class	BT::SyncActionNode

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Checks whether a blackboard variable holds a value. Returns SUCCESS if the variable has been written to, FAILURE if it does not exist or was only declared by a port or SubTree remap. Wrap it in an Inverter to branch on a variable being unset.

The name is resolved the way a {name} port is: through SubTree remaps and _autoremap, and a leading @ reads the root blackboard. A value written as an empty string or 0 counts as set. UnsetBlackboard follows neither SubTree remaps nor @, so inside a SubTree a variable remapped from the parent stays set until the parent unsets it.

A missing or empty variable_name, or one written with braces, is an authoring error and throws BT::RuntimeError, so the Objective fails with the message instead of silently taking the "unset" branch.

Data Port Name	Port Type	Object Type
variable_name	input	std::string

Definition at line 31 of file is_blackboard_variable_set.hpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::IsBlackboardVariableSet::tick ()

Declaration at line 40 of file is_blackboard_variable_set.hpp, definition at line 45 of file is_blackboard_variable_set.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::IsBlackboardVariableSet::metadata ()

static

Declaration at line 38 of file is_blackboard_variable_set.hpp, definition at line 32 of file is_blackboard_variable_set.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::IsBlackboardVariableSet::providedPorts ()

static

Declaration at line 36 of file is_blackboard_variable_set.hpp, definition at line 23 of file is_blackboard_variable_set.cpp.

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The documentation for this class was generated from the following files:

• is_blackboard_variable_set.hpp
• is_blackboard_variable_set.cpp

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