Class DualBandExitCondition

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class DualBandExitCondition : public BT::ConditionNode

Class implementing a condition node for dual band exit criteria.

This class checks conditions to determine when to exit the dual band planning mode. It monitors robot’s progress and agent states to make this decision. It inherits from BT::ConditionNode to integrate with the behavior tree framework.

Public Functions

DualBandExitCondition(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

DualBandExitCondition() = delete

Deleted default constructor to enforce proper initialization.

~DualBandExitCondition() override

Virtual destructor for cleanup.

BT::NodeStatus tick() override

Method called to evaluate the condition.

Returns:

SUCCESS if dual band mode should be exited, FAILURE otherwise

Public Static Functions

static inline BT::PortsList providedPorts()

Defines input ports for condition evaluation.

Returns:

Ports list containing agents_info, distance threshold and navigation goal as inputs

Private Functions

bool isRobotStuck()

Checks if the robot has been stuck in place.

Returns:

True if robot hasn’t made progress, false otherwise

Private Members

agent_path_prediction::AgentsInfo agents_info_

Information about agents in the environment.

geometry_msgs::PoseStamped goal_

Current navigation goal.

double dist_threshold_

Distance threshold for dual band mode.

double goal_dist_

Distance to goal for progress tracking.

ros::Time stopped_time_

Time when robot was last detected as stopped.

std::string name_

Name of the node.