Struct Node

• Defined in File BTBuilder.hpp

Struct Documentation

struct Node

Node in the temporal planning graph.

Represents an action in the temporal planning graph with its input and output dependencies. Used to construct the execution flow of the behavior tree.

Public Types

using Ptr = std::shared_ptr<Node>

Public Functions

inline explicit Node(int id)

Public Members

int node_num

ActionStamped action

std::set<std::tuple<Node::Ptr, double, double>> input_arcs

std::set<std::tuple<Node::Ptr, double, double>> output_arcs

Public Static Functions

static inline Ptr make_shared(int id)