moveit_pro::behaviors::RepeatUnlessFailureEachTick Class Reference

Decorator that ticks its child up to num_cycles times, advancing one iteration per parent tick. More...

#include <repeat_unless_failure_each_tick.hpp>

Inheritance diagram for moveit_pro::behaviors::RepeatUnlessFailureEachTick:

Collaboration diagram for moveit_pro::behaviors::RepeatUnlessFailureEachTick:

Public Member Functions
	RepeatUnlessFailureEachTick (const std::string &name, const BT::NodeConfiguration &config)
	~RepeatUnlessFailureEachTick () override=default

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Required implementation of the static providedPorts function.
static BT::KeyValueVector	metadata ()

Detailed Description

Decorator that ticks its child up to num_cycles times, advancing one iteration per parent tick.

A safe replacement for the stock BehaviorTree.CPP Repeat and KeepRunningUntilFailure decorators that respects the BT tick paradigm:

• At most one child iteration runs per parent tick. When the child returns SUCCESS, this decorator returns RUNNING so the parent re-ticks on the next pass instead of looping inside one tick.
• When the child returns FAILURE, this decorator returns FAILURE.
• When the cumulative successful iteration count reaches num_cycles, this decorator returns SUCCESS.
• When num_cycles is -1 (the default), the loop runs forever — equivalent to the legacy KeepRunningUntilFailure semantics, but without the tick-paradigm violation present in Repeat.

Because each iteration yields a tick back to the parent, an infinite loop with a synchronous always-SUCCESS child cannot deadlock the tree the way Repeat num_cycles="-1" does.

Data Port Name	Port Type	Object Type
num_cycles	input	int

Constructor & Destructor Documentation

RepeatUnlessFailureEachTick()

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

~RepeatUnlessFailureEachTick()

moveit_pro::behaviors::RepeatUnlessFailureEachTick::~RepeatUnlessFailureEachTick ( )

overridedefault

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

Required implementation of the static providedPorts function.

Returns

The list of input and output ports used by this behavior.

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

• repeat_unless_failure_each_tick.hpp
• repeat_unless_failure_each_tick.cpp