BT::RetryNode Class Reference

The RetryNode is used to execute a child several times if it fails. More...

#include <retry_node.h>

Inheritance diagram for BT::RetryNode:

Public Member Functions
virtual void	halt () override
	The method used to interrupt the execution of this node. More...
	RetryNode (const std::string &name, int NTries)
	RetryNode (const std::string &name, const NodeConfiguration &config)
virtual	~RetryNode () override=default
Public Member Functions inherited from BT::DecoratorNode
const TreeNode *	child () const
TreeNode *	child ()
	DecoratorNode (const std::string &name, const NodeConfiguration &config)
NodeStatus	executeTick () override
	The method that should be used to invoke tick() and setStatus();. More...
void	haltChild ()
	Halt() the child node. More...
void	setChild (TreeNode *child)
virtual NodeType	type () const override
virtual	~DecoratorNode () override=default
Public Member Functions inherited from BT::TreeNode
const NodeConfiguration &	config () const
template<typename T >
Result	getInput (const std::string &key, T &destination) const
template<typename T >
Optional< T >	getInput (const std::string &key) const
bool	isHalted () const
const std::string &	name () const
	Name of the instance, not the type. More...
const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance. More...
template<typename T >
Result	setOutput (const std::string &key, const T &value)
void	setStatus (NodeStatus new_status)
NodeStatus	status () const
StatusChangeSubscriber	subscribeToStatusChange (StatusChangeCallback callback)
	subscribeToStatusChange is used to attach a callback to a status change. When StatusChangeSubscriber goes out of scope (it is a shared_ptr) the callback is unsubscribed automatically. More...
	TreeNode (std::string name, NodeConfiguration config)
	TreeNode main constructor. More...
uint16_t	UID () const
BT::NodeStatus	waitValidStatus ()
virtual	~TreeNode ()=default

Static Public Member Functions
static PortsList	providedPorts ()
Static Public Member Functions inherited from BT::TreeNode
static Optional< StringView >	getRemappedKey (StringView port_name, StringView remapping_value)
static bool	isBlackboardPointer (StringView str)
static StringView	stripBlackboardPointer (StringView str)

Private Member Functions
virtual BT::NodeStatus	tick () override
	Method to be implemented by the user. More...

Private Attributes
int	max_attempts_
bool	read_parameter_from_ports_
int	try_index_

Static Private Attributes
static constexpr const char *	NUM_ATTEMPTS = "num_attempts"

Additional Inherited Members
Public Types inherited from BT::TreeNode
typedef std::shared_ptr< TreeNode >	Ptr
using	StatusChangeCallback = StatusChangeSignal::CallableFunction
using	StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus >
using	StatusChangeSubscriber = StatusChangeSignal::Subscriber
Protected Member Functions inherited from BT::TreeNode
void	modifyPortsRemapping (const PortsRemapping &new_remapping)
void	setRegistrationID (StringView ID)
Protected Attributes inherited from BT::DecoratorNode
TreeNode *	child_node_

Detailed Description

The RetryNode is used to execute a child several times if it fails.

If the child returns SUCCESS, the loop is stopped and this node returns SUCCESS.

If the child returns FAILURE, this node will try again up to N times (N is read from port "num_attempts").

Example:

<RetryUntilSuccesful num_attempts="3"> <OpenDoor> </RetryUntilSuccesful>

Definition at line 36 of file retry_node.h.

Constructor & Destructor Documentation

BT::RetryNode::RetryNode	(	const std::string &	name,
		int	NTries
	)

Definition at line 20 of file retry_node.cpp.

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

Definition at line 29 of file retry_node.cpp.

virtual BT::RetryNode::~RetryNode ( )

overridevirtualdefault

Member Function Documentation

void BT::RetryNode::halt ( )

overridevirtual

The method used to interrupt the execution of this node.

Reimplemented from BT::DecoratorNode.

Definition at line 37 of file retry_node.cpp.

static PortsList BT::RetryNode::providedPorts ( )

inlinestatic

Definition at line 46 of file retry_node.h.

NodeStatus BT::RetryNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 43 of file retry_node.cpp.

Member Data Documentation

int BT::RetryNode::max_attempts_

private

Definition at line 56 of file retry_node.h.

constexpr const char * BT::RetryNode::NUM_ATTEMPTS = "num_attempts"

staticprivate

Definition at line 60 of file retry_node.h.

bool BT::RetryNode::read_parameter_from_ports_

private

Definition at line 59 of file retry_node.h.

int BT::RetryNode::try_index_

private

Definition at line 57 of file retry_node.h.

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

• retry_node.h
• retry_node.cpp