WaitAndPopSolutionQueue Class

Pops the MTC solution queue to get the next solution to be processed. More...

Declaration

class moveit_pro::behaviors::WaitAndPopSolutionQueue { ... }

Included Headers

#include <wait_and_pop_solution_queue.hpp>

Base class

class	BT::ActionNodeBase

Public Constructors Index

	WaitAndPopSolutionQueue (const std::string &name, const BT::NodeConfiguration &config)

Public Member Functions Index

BT::NodeStatus	tick () override
	Read queue from the blackboard, check whether or not it is empty and pop the next solution if it is not empty. The solution will be written to the BT output port. More...
void	halt () override

Public Static Functions Index

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

Description

Pops the MTC solution queue to get the next solution to be processed.

The queue will be modified in-place. If the queue is uninitialized or empty, this behavior will return RUNNING. An exception is if the value of the fail_if_queue_empty port is True, in which case it will return FAILURE.

Data Port Name	Port Type	Object Type
solution queue	Input	std::shared_ptr<std::queue<moveit_task_constructor_msgs::msg::Solution>>
solution	Output	moveit_task_constructor_msgs::msg::Solution
fail_if_queue_empty	Input	bool

Definition at line 26 of file wait_and_pop_solution_queue.hpp.

Public Constructors

WaitAndPopSolutionQueue()

moveit_pro::behaviors::WaitAndPopSolutionQueue::WaitAndPopSolutionQueue (const std::string & name, const BT::NodeConfiguration & config)

Declaration at line 29 of file wait_and_pop_solution_queue.hpp, definition at line 30 of file wait_and_pop_solution_queue.cpp.

Public Member Functions

halt()

void moveit_pro::behaviors::WaitAndPopSolutionQueue::halt ()

Declaration at line 47 of file wait_and_pop_solution_queue.hpp, definition at line 84 of file wait_and_pop_solution_queue.cpp.

tick()

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

Read queue from the blackboard, check whether or not it is empty and pop the next solution if it is not empty. The solution will be written to the BT output port.

Returns

BT::NodeStatus::SUCCESS if a solution was popped from the queue and set to an output port.

Returns

BT::NodeStatus::RUNNING if the queue was empty or uninitialized and fail_if_queue_empty was not set or was set to False.

Returns

BT::NodeStatus::FAILURE if the solution could not be set to the output data port.

Returns

BT::NodeStatus::FAILURE if the queue was empty or uninitialized and fail_if_queue_empty was not set or was set to True.

Declaration at line 45 of file wait_and_pop_solution_queue.hpp, definition at line 52 of file wait_and_pop_solution_queue.cpp.

Public Static Functions

metadata()

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

static

Declaration at line 33 of file wait_and_pop_solution_queue.hpp, definition at line 46 of file wait_and_pop_solution_queue.cpp.

providedPorts()

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

static

Declaration at line 31 of file wait_and_pop_solution_queue.hpp, definition at line 35 of file wait_and_pop_solution_queue.cpp.

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

• wait_and_pop_solution_queue.hpp
• wait_and_pop_solution_queue.cpp

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