Class IsGoalUpdated

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class IsGoalUpdated : public BT::ConditionNode

Class implementing a condition node for checking if navigation goal has been updated.

This class monitors updates to the robot’s navigation goal and provides functionality to detect when a new goal has been set. This is important for handling goal changes during navigation and recovery behaviors. It inherits from BT::ConditionNode to integrate with the behavior tree framework.

Public Functions

IsGoalUpdated(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

IsGoalUpdated() = delete

Deleted default constructor to enforce proper initialization.

~IsGoalUpdated() override

Virtual destructor for cleanup.

BT::NodeStatus tick() override

Method called to evaluate if goal has been updated.

Returns:

SUCCESS if goal has been updated and not in recovery, FAILURE otherwise

Public Static Functions

static inline BT::PortsList providedPorts()

Defines input ports for condition evaluation.

Returns:

Ports list containing goal_update and recovery status as inputs

Private Members

std::string name_

Name of the node.