Class BTBuilder

Defined in File BTBuilder.hpp

Class Documentation

class BTBuilder

Public Functions

explicit BTBuilder(rclcpp::Node::SharedPtr node, const std::string &bt_action = "")

Graph::Ptr get_graph(const plansys2_msgs::msg::Plan &current_plan)

std::string get_tree(const plansys2_msgs::msg::Plan &current_plan)

std::string get_dotgraph(Graph::Ptr action_graph, std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map, bool enable_legend = false, bool enable_print_graph = false)

Protected Functions

std::vector<ActionStamped> get_plan_actions(const plansys2_msgs::msg::Plan &plan)

void prune_backwards(GraphNode::Ptr new_node, GraphNode::Ptr node_satisfy)

void prune_forward(GraphNode::Ptr current, std::list<GraphNode::Ptr> &used_nodes)

void get_state(const GraphNode::Ptr &node, std::list<GraphNode::Ptr> &used_nodes, std::vector<plansys2::Predicate> &predicates, std::vector<plansys2::Function> &functions) const

bool is_action_executable(const ActionStamped &action, std::vector<plansys2::Predicate> &predicates, std::vector<plansys2::Function> &functions) const

std::list<GraphNode::Ptr> get_roots(std::vector<plansys2::ActionStamped> &action_sequence, std::vector<plansys2::Predicate> &predicates, std::vector<plansys2::Function> &functions, int &node_counter)

GraphNode::Ptr get_node_satisfy(const plansys2_msgs::msg::Tree &requirement, const Graph::Ptr &graph, const GraphNode::Ptr &current)

GraphNode::Ptr get_node_satisfy(const plansys2_msgs::msg::Tree &requirement, const GraphNode::Ptr &node, const GraphNode::Ptr &current)

std::list<GraphNode::Ptr> get_node_contradict(const Graph::Ptr &graph, const GraphNode::Ptr &current)

void get_node_contradict(const GraphNode::Ptr &node, const GraphNode::Ptr &current, std::list<GraphNode::Ptr> &parents)

void remove_existing_requirements(std::vector<plansys2_msgs::msg::Tree> &requirements, std::vector<plansys2::Predicate> &predicates, std::vector<plansys2::Function> &functions) const

bool is_parallelizable(const plansys2::ActionStamped &action, const std::vector<plansys2::Predicate> &predicates, const std::vector<plansys2::Function> &functions, const std::list<GraphNode::Ptr> &ret) const

std::string get_flow_tree(GraphNode::Ptr node, std::list<std::string> &used_nodes, int level = 0)

void get_flow_dotgraph(GraphNode::Ptr node, std::set<std::string> &edges)

std::string get_node_dotgraph(GraphNode::Ptr node, std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map, int level = 0)

ActionExecutor::Status get_action_status(ActionStamped action, std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map)

void addDotGraphLegend(std::stringstream &ss, int tab_level, int level_counter, int node_counter)

std::string t(int level)

std::string execution_block(const GraphNode::Ptr &node, int l)

void print_node(const GraphNode::Ptr &node, int level, std::set<GraphNode::Ptr> &used_nodes) const

void print_graph(const plansys2::Graph::Ptr &graph) const

void print_node_csv(const GraphNode::Ptr &node, uint32_t root_num) const

void print_graph_csv(const plansys2::Graph::Ptr &graph) const

void get_node_tabular(const plansys2::GraphNode::Ptr &node, uint32_t root_num, std::vector<std::tuple<uint32_t, uint32_t, uint32_t, std::string>> &graph) const

std::vector<std::tuple<uint32_t, uint32_t, uint32_t, std::string>> get_graph_tabular(const plansys2::Graph::Ptr &graph) const

Protected Attributes

std::shared_ptr<plansys2::DomainExpertClient> domain_client_

std::shared_ptr<plansys2::ProblemExpertClient> problem_client_

std::string bt_action_