Class BackoffExitCondition

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class BackoffExitCondition : public BT::ConditionNode

Class implementing a condition node for managing backoff recovery behavior.

This class provides functionality to control when to exit the backoff recovery mode. It monitors agent states and recovery progress to determine when to resume normal navigation. It inherits from BT::ConditionNode to integrate with the behavior tree framework.

Public Functions

BackoffExitCondition(const std::string &condition_name, const BT::NodeConfiguration &conf)

Constructor with condition name and configuration.

Parameters:

  • condition_name – Name of the condition node

  • conf – Configuration for the behavior tree node

BackoffExitCondition() = delete

Deleted default constructor to enforce proper initialization.

~BackoffExitCondition() override

Virtual destructor for cleanup.

BT::NodeStatus tick() override

Method called to evaluate the condition.

Returns:

SUCCESS if backoff recovery should be exited, FAILURE otherwise

Public Static Functions

static inline BT::PortsList providedPorts()

Defines input and output ports for recovery condition.

Returns:

Ports list containing agents_info, backoff_ptr, nav_goal, agents_ptr as inputs, and recovery status as output

Private Functions

bool isRecoveryComplete()

Checks if the recovery behavior is complete.

Returns:

True if recovery is complete, false otherwise

Private Members

agent_path_prediction::AgentsInfo agents_info_

Information about agents in the environment.

geometry_msgs::PoseStamped current_goal_

Current navigation goal.

std::shared_ptr<Backoff> backoff_ptr_ = nullptr

Pointer to backoff behavior handler.

std::shared_ptr<agents::Agents> agents_ptr_ = nullptr

Pointer to agents manager.

int stuck_agent_

ID of the agent that is stuck.

double dist_max_

Maximum distance threshold.

std::string name_

Name of the node.

bool started_

Flag indicating if recovery has started.

bool new_goal_

Flag indicating if a new goal was received.

bool backed_off_

Flag indicating if robot has backed off.