Class BehaviorTreeEngine
Defined in File behavior_tree_engine.hpp
Class Documentation
A class to create and handle behavior trees.
Public Functions
A constructor for nav2_behavior_tree::BehaviorTreeEngine.
- Parameters:
plugin_libraries – vector of BT plugin library names to load
Function to execute a BT at a specific rate.
- Parameters:
tree – BT to execute
onLoop – Function to execute on each iteration of BT execution
cancelRequested – Function to check if cancel was requested during BT execution
loopTimeout – Time period for each iteration of BT execution
- Returns:
nav2_behavior_tree::BtStatus Status of BT execution
Function to create a BT from a XML string.
- Parameters:
xml_string – XML string representing BT
blackboard – Blackboard for BT
- Returns:
BT::Tree Created behavior tree
Function to create a BT from an XML file.
- Parameters:
file_path – Path to BT XML file
blackboard – Blackboard for BT
- Returns:
BT::Tree Created behavior tree
Function to explicitly reset all BT nodes to initial state.
- Parameters:
root_node – Pointer to BT root node
Protected Attributes