Class BehaviorsScheduler

Defined in File behaviors_scheduler.hpp

Nested Relationships

Nested Types

Struct BehaviorsScheduler::BehaviorsData

Class Documentation

class BehaviorsScheduler

This class manages the execution of a single behavior at the time.

Public Types

using optional_output_t = boost::optional<geometry_msgs::msg::TwistStamped>

using run_behavior_func_t = std::function<optional_output_t(const RobotState&)>

using is_done_func_t = std::function<bool()>

using cleanup_func_t = std::function<void()>

Public Functions

inline BehaviorsScheduler()

inline bool set_behavior(const BehaviorsData &data)

inline bool has_behavior()

inline bool apply_backup_limits()

inline bool stop_on_new_behavior()

inline optional_output_t run_behavior(const RobotState &current_state)

struct BehaviorsData

Public Members

run_behavior_func_t run_func

is_done_func_t is_done_func

cleanup_func_t cleanup_func

bool stop_on_new_behavior

bool apply_backup_limits