#include <tree_node.h>

Inheritance diagram for BT::TreeNode:

Public Types
typedef std::shared_ptr< TreeNode >	Ptr
Public Member Functions
const Blackboard::Ptr &	blackboard () const
virtual BT::NodeStatus	executeTick ()
	The method that will be executed to invoke tick(); and setStatus();.
template<typename T >
BT::optional< T >	getParam (const std::string &key) const
template<typename T >
bool	getParam (const std::string &key, T &destination) const
virtual void	halt ()=0
	The method used to interrupt the execution of a RUNNING node.
const NodeParameters &	initializationParameters () const
bool	isHalted () const
const std::string &	name () const
const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance.
void	setBlackboard (const Blackboard::Ptr &bb)
void	setStatus (NodeStatus new_status)
NodeStatus	status () const
StatusChangeSubscriber	subscribeToStatusChange (StatusChangeCallback callback)
	subscribeToStatusChange is used to attach a callback to a status change. When StatusChangeSubscriber goes out of scope (it is a shared_ptr) the callback is unsubscribed automatically.
	TreeNode (const std::string &name, const NodeParameters &parameters)
	TreeNode main constructor.
virtual NodeType	type () const =0
uint16_t	UID () const
BT::NodeStatus	waitValidStatus ()
virtual	~TreeNode ()
Static Public Member Functions
static bool	isBlackboardPattern (StringView str)
Protected Member Functions
void	initializeOnce ()
void	setRegistrationName (const std::string &registration_name)
	registrationName() is set by the BehaviorTreeFactory
virtual BT::NodeStatus	tick ()=0
	Method to be implemented by the user.
Private Member Functions
virtual void	onInit ()
Private Attributes
Blackboard::Ptr	bb_
const std::string	name_
bool	not_initialized_
const NodeParameters	parameters_
std::string	registration_name_
StatusChangeSignal	state_change_signal_
std::condition_variable	state_condition_variable_
std::mutex	state_mutex_
NodeStatus	status_
const uint16_t	uid_
Friends
class	BehaviorTreeFactory

Detailed Description

Definition at line 39 of file tree_node.h.

Member Typedef Documentation

typedef std::shared_ptr<TreeNode> BT::TreeNode::Ptr

Definition at line 63 of file tree_node.h.

Constructor & Destructor Documentation

BT::TreeNode::TreeNode	(	const std::string &	name,
		const NodeParameters &	parameters
	)

TreeNode main constructor.

Parameters:

name	name of the instance, not the type of sensor.
parameters	this might be empty. use getParam<T>(key) to parse the value.

Note: a node that accepts a not empty set of NodeParameters must also implement the method:

static const NodeParameters& requiredNodeParameters();

Definition at line 25 of file tree_node.cpp.

virtual BT::TreeNode::~TreeNode ( ) [virtual]

Member Function Documentation

const Blackboard::Ptr & BT::TreeNode::blackboard ( ) const

Definition at line 64 of file tree_node.cpp.

NodeStatus BT::TreeNode::executeTick ( ) [virtual]

The method that will be executed to invoke tick(); and setStatus();.

Reimplemented in BT::CoroActionNode, BT::AsyncActionNode, BT::SyncActionNode, BT::ActionNodeBase, and BT::DecoratorNode.

Definition at line 35 of file tree_node.cpp.

template<typename T >

BT::optional<T> BT::TreeNode::getParam ( const std::string & key ) const [inline]

Get a parameter from the NodeParameters and convert it to type T.

Definition at line 117 of file tree_node.h.

template<typename T >

bool BT::TreeNode::getParam	(	const std::string &	key,
		T &	destination
	)		const `[inline]`

Get a parameter from the passed NodeParameters and convert it to type T. Return false either if there is no parameter with this key or if conversion failed.

Definition at line 170 of file tree_node.h.

virtual void BT::TreeNode::halt ( ) [pure virtual]

The method used to interrupt the execution of a RUNNING node.

Implemented in BT::CoroActionNode, FollowPath, BT::SimpleActionNode, MoveBaseAction, BT::SyncActionNode, BT::SimpleConditionNode, MyAsyncAction, BT::ControlNode, BT::RepeatNode, BT::AsyncActionTest, BT::SequenceStarNode, BT::FallbackStarNode, BT::ParallelNode, BT::RetryNode, ActionTestNode, ActionTestNode, BT::ConditionNode, and BT::DecoratorNode.

const NodeParameters & BT::TreeNode::initializationParameters ( ) const

Parameters passed at construction time. Can never change after the creation of the TreeNode instance.

Definition at line 137 of file tree_node.cpp.

void BT::TreeNode::initializeOnce ( ) [protected]

Definition at line 118 of file tree_node.cpp.

bool BT::TreeNode::isBlackboardPattern ( StringView str ) [static]

Definition at line 127 of file tree_node.cpp.

bool BT::TreeNode::isHalted ( ) const

Definition at line 97 of file tree_node.cpp.

const std::string & BT::TreeNode::name ( ) const

Definition at line 92 of file tree_node.cpp.

virtual void BT::TreeNode::onInit ( ) [inline, private, virtual]

This calback will be executed only ONCE after the constructor of the node, before the very first tick. Override if necessary.

Reimplemented in InitTestNode.

Definition at line 47 of file tree_node.h.

const std::string & BT::TreeNode::registrationName ( ) const

registrationName is the ID used by BehaviorTreeFactory to create an instance.

Definition at line 132 of file tree_node.cpp.

void BT::TreeNode::setBlackboard ( const Blackboard::Ptr & bb )

Definition at line 59 of file tree_node.cpp.

void BT::TreeNode::setRegistrationName ( const std::string & registration_name ) [protected]

registrationName() is set by the BehaviorTreeFactory

Definition at line 113 of file tree_node.cpp.

void BT::TreeNode::setStatus ( NodeStatus new_status )

Definition at line 43 of file tree_node.cpp.

NodeStatus BT::TreeNode::status ( ) const

Definition at line 75 of file tree_node.cpp.

TreeNode::StatusChangeSubscriber BT::TreeNode::subscribeToStatusChange ( StatusChangeCallback callback )

subscribeToStatusChange is used to attach a callback to a status change. When StatusChangeSubscriber goes out of scope (it is a shared_ptr) the callback is unsubscribed automatically.

Parameters:

callback. Must have signature void funcname(NodeStatus prev_status, NodeStatus new_status)