Class RoundRobinNode

Inheritance Relationships

Base Type

  • public BT::ControlNode

Class Documentation

class RoundRobinNode : public BT::ControlNode

Type of sequence node that ticks children in a round-robin fashion.

Public Functions

explicit RoundRobinNode(const std::string &name)

A constructor for nav2_behavior_tree::RoundRobinNode.

Parameters:

name – Name for the XML tag for this node

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

A constructor for nav2_behavior_tree::RoundRobinNode.

Parameters:

  • name – Name for the XML tag for this node

  • config – BT node configuration

BT::NodeStatus tick() override

The main override required by a BT action.

Returns:

BT::NodeStatus Status of tick execution

void halt() override

The other (optional) override required by a BT action to reset node state.

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing basic ports along with node-specific ports