Class BTBuilder

Defined in File BTBuilder.hpp

Inheritance Relationships

Derived Types

public plansys2::STNBTBuilder (Class STNBTBuilder)
public plansys2::SimpleBTBuilder (Class SimpleBTBuilder)

Class Documentation

class BTBuilder

Subclassed by plansys2::STNBTBuilder, plansys2::SimpleBTBuilder

Public Types

using Ptr = std::shared_ptr<plansys2::BTBuilder>

Public Functions

virtual void initialize(const std::string &bt_action_1 = "", const std::string &bt_action_2 = "", int precision = 3) = 0

virtual std::string get_tree(const plansys2_msgs::msg::Plan &current_plan) = 0

virtual Graph::Ptr get_graph() = 0

virtual bool propagate(Graph::Ptr graph) = 0

virtual std::string get_dotgraph(std::shared_ptr<std::map<std::string, ActionExecutionInfo>> action_map, bool enable_legend = false, bool enable_print_graph = false) = 0

Public Static Functions

static inline int to_int_time(float time, int power)

static inline std::string to_string(const ActionType &action_type)

static inline std::string to_action_id(const plansys2_msgs::msg::PlanItem &item, int precision)

static inline std::string to_action_id(const ActionStamped &action, int precision)