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

#include <wait_and_pop_solution_queue.hpp>

Inheritance diagram for moveit_studio::behaviors::WaitAndPopSolutionQueue:

Collaboration diagram for moveit_studio::behaviors::WaitAndPopSolutionQueue:

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

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

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Detailed 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

Constructor & Destructor Documentation

◆ WaitAndPopSolutionQueue()

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

Member Function Documentation

◆ halt()

void moveit_studio::behaviors::WaitAndPopSolutionQueue::halt ( )

override

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

BT::NodeStatus moveit_studio::behaviors::WaitAndPopSolutionQueue::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.

Returns: BT::NodeStatus::SUCCESS if a solution was popped from the queue and set to an output port.; BT::NodeStatus::RUNNING if the queue was empty or uninitialized and fail_if_queue_empty was not set or was set to False.; BT::NodeStatus::FAILURE if the solution could not be set to the output data port.; BT::NodeStatus::FAILURE if the queue was empty or uninitialized and fail_if_queue_empty was not set or was set to True.

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

Public Member Functions

Static Public Member Functions