Function soar_ros::updateEventHandler

Function Documentation

void soar_ros::updateEventHandler(sml::smlUpdateEventId id, void *pSoarRunner_, sml::Kernel *kernel_ptr, sml::smlRunFlags run_flags)

Called on every loop of the Soar kernel to process input and output link changes.

Calls the SoarRunner::updateWorld() function, which in turn processes all outputs via SoarRunner::processOutputLinkChanges() and attaches new elements to the Soar input-link via SoarRunner::processInput().

Parameters:

  • id – Unused.

  • pSoarRunner_ – Soar only provides C wrappers for their API and the SoarRunner structure must be referenced via static pointer casting.

  • kernel_ptr – Unused.

  • run_flags – Unused.