Class VelObsExitCondition

Inheritance Relationships

Base Type

  • public BT::ConditionNode

Class Documentation

class VelObsExitCondition : public BT::ConditionNode

Condition node that checks if an obstacle (human) has stopped in the environment.

This class implements a behavior tree condition that monitors the velocity state of nearby human agents and determines if any have come to a stop. It is used to detect situations where the robot’s path may be blocked by a stationary human obstacle.

Public Functions

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

Constructor for the VelObsExitCondition node.

Parameters:

  • condition_name – Name of the condition node

  • conf – Node configuration containing the input/output ports

VelObsExitCondition() = delete
~VelObsExitCondition() override

Destructor.

BT::NodeStatus tick() override

Main execution tick of the condition node.

Returns:

NodeStatus SUCCESS if a human has stopped, FAILURE otherwise

Public Static Functions

static inline BT::PortsList providedPorts()

Defines the input and output ports for the condition node.

Returns:

PortsList containing the node’s ports configuration

Private Functions

bool hasHumanStopped()

Checks if any human agent in the environment has stopped moving.

Returns:

true if a human has stopped, false otherwise

Private Members

agent_path_prediction::AgentsInfo agents_info_

Current information about all agents in the environment.

std::shared_ptr<agents::Agents> agents_ptr_

Pointer to the agents management class.

std::string name_

Name of this behavior tree node.

int nearest_human_id_

ID of the nearest human agent.

int t_stuck_

Time counter for how long an agent has been stuck.

std::mutex agents_mutex_

Mutex to protect concurrent access to agent data.