Struct TreeInfo

• Defined in File ExecutorNode.hpp

Struct Documentation

struct TreeInfo

Contains information about a behavior tree for plan execution.

This structure stores the behavior tree, its blackboard, and the BT builder that created it. It’s used to manage the execution of a plan through a BT.

Public Types

using Ptr = std::shared_ptr<TreeInfo>

Public Members

BT::Tree tree

BT::Blackboard::Ptr blackboard

std::shared_ptr<plansys2::BTBuilder> bt_builder