robokudo.behaviours.goal_canceled
=================================

.. py:module:: robokudo.behaviours.goal_canceled

.. autoapi-nested-parse::

   Goal cancellation behavior for RoboKudo behavior trees.

   This module provides a behavior that checks for goal cancellation by monitoring
   error states on the behavior tree's blackboard. It is used to:

   * Detect when goals should be canceled due to errors
   * Provide clean termination of action sequences
   * Support error handling in action servers

   The behavior integrates with RoboKudo's error handling system to detect
   conditions that should trigger goal cancellation.



Classes
-------

.. autoapisummary::

   robokudo.behaviours.goal_canceled.GoalCanceled


Module Contents
---------------

.. py:class:: GoalCanceled(name='GoalCanceled')

   Bases: :py:obj:`py_trees.Behaviour`


   A behavior that detects when goals should be canceled due to errors.

   This behavior monitors the blackboard for error states and returns:
   * SUCCESS if an error is detected, indicating the goal should be canceled
   * FAILURE if no errors are present, indicating the goal can continue

   It is typically used in action server implementations to handle error
   conditions and provide clean goal cancellation.


   .. py:method:: initialise()

      Initialize the behavior.

      This method is called when the behavior is first ticked.
      No initialization is needed for this behavior.



   .. py:method:: update() -> py_trees.common.Status

      Check if the current goal should be canceled.

      This method:
      * Checks for error states on the blackboard
      * Returns SUCCESS if an error is found (goal should be canceled)
      * Returns FAILURE if no errors are present (goal can continue)

      :return: SUCCESS if goal should be canceled, FAILURE otherwise
      :rtype: py_trees.common.Status