moveit_studio::behaviors::ForEachUntilSuccess Class Reference

A decorator node that iterates through a vector of items, stopping on first successful child node tick. More...

#include <for_each_until_success.hpp>

Inheritance diagram for moveit_studio::behaviors::ForEachUntilSuccess:

Collaboration diagram for moveit_studio::behaviors::ForEachUntilSuccess:

Public Member Functions
	ForEachUntilSuccess (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources)
	~ForEachUntilSuccess () override=default
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::DecoratorNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

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

Additional Inherited Members
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::DecoratorNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

A decorator node that iterates through a vector of items, stopping on first successful child node tick.

• Given an instance of std::vector<BT::Any> which is provided on an input data port and contains N items, set the value of an output data port to the item in the vector which is at index 0 and then tick the ForEachUntilSuccess decorator's child node until the child returns SUCCESS or FAILURE.
• If the vector is empty do not call the child, return SUCCESS.
• If the child returns SUCCESS, stop iterating through the vector or ticking the child and return SUCCESS.
• If the child returns FAILURE, move on to the next vector element and repeat ticking the child node.
• Repeat until we have iterated through all elements of the input vector, and finally return FAILURE.

For each element set in the output, the index of the element in the input vector is also set in the index output data port. Therefore this Behavior outputs pairs [index, out] for each element in the input vector, containing the element index (starting at 0) and its value.

NOTE: The output values are only expected to be used by the child node or subtree of the ForEachUntilSuccess node which sets it. While it is possible to access these ports from elsewhere in the behavior tree, this may result in unexpected behavior so it is not recommended.

Data Port Name	Port Type	Object Type
vector_in	input	std::vector<BT::Any>
index	output	int
out	output	BT::Any

Constructor & Destructor Documentation

ForEachUntilSuccess()

moveit_studio::behaviors::ForEachUntilSuccess::ForEachUntilSuccess	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &	shared_resources
	)

~ForEachUntilSuccess()

moveit_studio::behaviors::ForEachUntilSuccess::~ForEachUntilSuccess ( )

overridedefault

Member Function Documentation

metadata()

BT::KeyValueVector moveit_studio::behaviors::ForEachUntilSuccess::metadata ( )

static

providedPorts()

BT::PortsList moveit_studio::behaviors::ForEachUntilSuccess::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:

• for_each_until_success.hpp
• for_each_until_success.cpp