BT::TestNodeConfig Struct Reference

Collaboration diagram for BT::TestNodeConfig:

Public Attributes
NodeStatus	return_status = NodeStatus::SUCCESS
std::string	success_script
	script to execute when complete_func() returns SUCCESS
std::string	failure_script
	script to execute when complete_func() returns FAILURE
std::string	post_script
	script to execute when actions is completed
std::chrono::milliseconds	async_delay = std::chrono::milliseconds(0)
	if async_delay > 0, this action become asynchronous and wait this amount of time
std::function< NodeStatus(void)>	complete_func
std::string	return_status_script

Member Data Documentation

complete_func

std::function<NodeStatus(void)> BT::TestNodeConfig::complete_func

Function invoked when the action is completed. If not specified, the node will use return_status_script when present, otherwise it will return [return_status].

return_status

NodeStatus BT::TestNodeConfig::return_status = NodeStatus::SUCCESS

Status to return when the action is completed. If return_status_script is also set, the script takes precedence.

return_status_script

std::string BT::TestNodeConfig::return_status_script

Optional script to compute the completion status dynamically.

This script is evaluated when the TestNode completes, after any async_delay has elapsed, using the current blackboard state. The result must resolve to the same set of statuses supported by return_status, except IDLE which is always rejected. When set, this takes precedence over return_status.

NOTE: kept last to preserve the byte offsets of the fields above.

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The documentation for this struct was generated from the following file:

• include/behaviortree_cpp/actions/test_node.h