Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
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:
Inheritance graph
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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 TreeNodechild () const
 
TreeNodechild ()
 
 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 NodeConfigurationconfig () 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< StringViewgetRemappedKey (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< TreeNodePtr
 
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
TreeNodechild_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.


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


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sat Jun 8 2019 18:04:06