The BehaviorTreeFactory is used to create instances of a TreeNode at run-time. More...

#include <bt_factory.h>

Public Member Functions
	BehaviorTreeFactory ()
const std::unordered_map < std::string, NodeBuilder > &	builders () const
	All the builders. Made available mostly for debug purposes.
const std::set< std::string > &	builtinNodes () const
	List of builtin IDs.
Tree	createTreeFromFile (const std::string &file_path, Blackboard::Ptr blackboard=Blackboard::create())
Tree	createTreeFromText (const std::string &text, Blackboard::Ptr blackboard=Blackboard::create())
std::unique_ptr< TreeNode >	instantiateTreeNode (const std::string &name, const std::string &ID, const NodeConfiguration &config) const
	instantiateTreeNode creates an instance of a previously registered TreeNode.
const std::unordered_map < std::string, TreeNodeManifest > &	manifests () const
	Manifests of all the registered TreeNodes.
void	registerBuilder (const TreeNodeManifest &manifest, const NodeBuilder &builder)
	The most generic way to register your own builder.
template<typename T >
void	registerBuilder (const std::string &ID, const NodeBuilder &builder)
void	registerFromPlugin (const std::string &file_path)
	registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro).
template<typename T >
void	registerNodeType (const std::string &ID)
void	registerSimpleAction (const std::string &ID, const SimpleActionNode::TickFunctor &tick_functor, PortsList ports={})
	registerSimpleAction help you register nodes of type SimpleActionNode.
void	registerSimpleCondition (const std::string &ID, const SimpleConditionNode::TickFunctor &tick_functor, PortsList ports={})
	registerSimpleCondition help you register nodes of type SimpleConditionNode.
void	registerSimpleDecorator (const std::string &ID, const SimpleDecoratorNode::TickFunctor &tick_functor, PortsList ports={})
	registerSimpleDecorator help you register nodes of type SimpleDecoratorNode.
bool	unregisterBuilder (const std::string &ID)
	Remove a registered ID.
Static Public Member Functions
template<typename T >
static TreeNodeManifest	buildManifest (const std::string &ID)
Private Member Functions
template<typename T >
void	registerNodeTypeImpl (const std::string &ID)
Static Private Member Functions
template<typename T >
static NodeBuilder	getBuilder (typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)
template<typename T >
static NodeBuilder	getBuilder (typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)
template<typename T >
static NodeBuilder	getBuilder (typename std::enable_if< has_default_constructor< T >::value &&!has_params_constructor< T >::value >::type *=nullptr)
Private Attributes
std::unordered_map < std::string, NodeBuilder >	builders_
std::set< std::string >	builtin_IDs_
std::unordered_map < std::string, TreeNodeManifest >	manifests_

Detailed Description

The BehaviorTreeFactory is used to create instances of a TreeNode at run-time.

Some node types are "builtin", whilst other are used defined and need to be registered using a unique ID.

Definition at line 98 of file bt_factory.h.

Constructor & Destructor Documentation

BT::BehaviorTreeFactory::BehaviorTreeFactory ( )

Definition at line 19 of file bt_factory.cpp.

Member Function Documentation

const std::unordered_map< std::string, NodeBuilder > & BT::BehaviorTreeFactory::builders ( ) const

All the builders. Made available mostly for debug purposes.

Definition at line 155 of file bt_factory.cpp.

template<typename T >

static TreeNodeManifest BT::BehaviorTreeFactory::buildManifest ( const std::string & ID ) [inline, static]

Definition at line 226 of file bt_factory.h.

const std::set< std::string > & BT::BehaviorTreeFactory::builtinNodes ( ) const

List of builtin IDs.

Definition at line 165 of file bt_factory.cpp.

Tree BT::BehaviorTreeFactory::createTreeFromFile	(	const std::string &	file_path,
		Blackboard::Ptr	blackboard = `Blackboard::create()`
	)

Definition at line 180 of file bt_factory.cpp.

Tree BT::BehaviorTreeFactory::createTreeFromText	(	const std::string &	text,
		Blackboard::Ptr	blackboard = `Blackboard::create()`
	)

Definition at line 170 of file bt_factory.cpp.

template<typename T >

static NodeBuilder BT::BehaviorTreeFactory::getBuilder ( typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr ) [inline, static, private]

Definition at line 253 of file bt_factory.h.

template<typename T >

static NodeBuilder BT::BehaviorTreeFactory::getBuilder ( typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr ) [inline, static, private]

Definition at line 272 of file bt_factory.h.

template<typename T >

static NodeBuilder BT::BehaviorTreeFactory::getBuilder ( typename std::enable_if< has_default_constructor< T >::value &&!has_params_constructor< T >::value >::type * = nullptr ) [inline, static, private]

Definition at line 282 of file bt_factory.h.

std::unique_ptr< TreeNode > BT::BehaviorTreeFactory::instantiateTreeNode	(	const std::string &	name,
		const std::string &	ID,
		const NodeConfiguration &	config
	)		const

instantiateTreeNode creates an instance of a previously registered TreeNode.

Parameters:

name	name of this particular instance
ID	ID used when it was registered
config	configuration that is passed to the constructor of the TreeNode.

Returns:: new node.

Definition at line 134 of file bt_factory.cpp.

const std::unordered_map< std::string, TreeNodeManifest > & BT::BehaviorTreeFactory::manifests ( ) const

Manifests of all the registered TreeNodes.

Definition at line 160 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerBuilder	(	const TreeNodeManifest &	manifest,
		const NodeBuilder &	builder
	)

The most generic way to register your own builder.

Definition at line 68 of file bt_factory.cpp.

template<typename T >

void BT::BehaviorTreeFactory::registerBuilder	(	const std::string &	ID,
		const NodeBuilder &	builder
	)		`[inline]`

Definition at line 110 of file bt_factory.h.

void BT::BehaviorTreeFactory::registerFromPlugin ( const std::string & file_path )

registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro).

Parameters:

file_path path of the file

Definition at line 116 of file bt_factory.cpp.

template<typename T >

void BT::BehaviorTreeFactory::registerNodeType ( const std::string & ID ) [inline]

registerNodeType is the method to use to register your custom TreeNode.

It accepts only classed derived from either ActionNodeBase, DecoratorNode, ControlNode or ConditionNode.

Definition at line 174 of file bt_factory.h.

template<typename T >

void BT::BehaviorTreeFactory::registerNodeTypeImpl ( const std::string & ID ) [inline, private]

Definition at line 246 of file bt_factory.h.

void BT::BehaviorTreeFactory::registerSimpleAction	(	const std::string &	ID,
		const SimpleActionNode::TickFunctor &	tick_functor
	)

registerSimpleAction help you register nodes of type SimpleActionNode.

Parameters:

ID	registration ID
tick_functor	the callback to be invoked in the tick() method.
ports	if your SimpleNode requires ports, provide the list here.

Definition at line 92 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerSimpleCondition	(	const std::string &	ID,
		const SimpleConditionNode::TickFunctor &	tick_functor
	)

registerSimpleCondition help you register nodes of type SimpleConditionNode.

Parameters:

ID	registration ID
tick_functor	the callback to be invoked in the tick() method.
ports	if your SimpleNode requires ports, provide the list here.

Definition at line 80 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerSimpleDecorator	(	const std::string &	ID,
		const SimpleDecoratorNode::TickFunctor &	tick_functor
	)

registerSimpleDecorator help you register nodes of type SimpleDecoratorNode.

Parameters:

ID	registration ID
tick_functor	the callback to be invoked in the tick() method.
ports	if your SimpleNode requires ports, provide the list here.

Definition at line 104 of file bt_factory.cpp.

bool BT::BehaviorTreeFactory::unregisterBuilder ( const std::string & ID )

Remove a registered ID.

Definition at line 52 of file bt_factory.cpp.

Member Data Documentation

std::unordered_map<std::string, NodeBuilder> BT::BehaviorTreeFactory::builders_ [private]

Definition at line 232 of file bt_factory.h.

std::set<std::string> BT::BehaviorTreeFactory::builtin_IDs_ [private]

Definition at line 234 of file bt_factory.h.

std::unordered_map<std::string, TreeNodeManifest> BT::BehaviorTreeFactory::manifests_ [private]

Definition at line 233 of file bt_factory.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation