Class PassThroughCondition

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class PassThroughCondition : public BT::ConditionNode

Class implementing a condition node for checking passthrough scenarios.

This class evaluates whether the robot is at a passage situation that requires special handling. It inherits from BT::ConditionNode to integrate with the behavior tree framework.

Public Functions

PassThroughCondition(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

PassThroughCondition() = delete

Deleted default constructor to enforce proper initialization.

~PassThroughCondition() override

Virtual destructor for cleanup.

BT::NodeStatus tick() override

Method called to evaluate passage conditions.

Returns:

SUCCESS if in door/pillar passage, FAILURE otherwise

Public Static Functions

static inline BT::PortsList providedPorts()

Defines input port for passage type.

Returns:

Ports list containing passage type as input

Private Members

int8_t psg_type_

Current passage type being evaluated.

std::string name_

Name of the node.