Class SingleBandExitCondition

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class SingleBandExitCondition : public BT::ConditionNode

Class implementing a condition node for checking single band exit criteria.

This class provides functionality to determine if a single band planning mode should be exited based on agent information and distance thresholds. It inherits from BT::ConditionNode to integrate with the behavior tree framework.

Public Functions

SingleBandExitCondition(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

SingleBandExitCondition() = delete

Deleted default constructor to enforce proper initialization.

~SingleBandExitCondition() override

Virtual destructor for cleanup.

BT::NodeStatus tick() override

Method called to evaluate the condition.

Returns:

Status indicating whether condition is met

Public Static Functions

static inline BT::PortsList providedPorts()

Defines input ports for condition evaluation.

Returns:

Ports list containing agents_info and dist_max as inputs

Private Members

agent_path_prediction::AgentsInfo agents_info_

Information about agents in the environment.

double dist_max_

Maximum distance threshold for band exit condition.

std::string name_

Name of the condition node.