t06_wrap_legacy.cpp File Reference

#include "behaviortree_cpp/xml_parsing.h"
#include "behaviortree_cpp/loggers/bt_cout_logger.h"
#include "behaviortree_cpp/blackboard/blackboard_local.h"

Include dependency graph for t06_wrap_legacy.cpp:

Go to the source code of this file.

Classes
class	MyLegacyMoveTo
struct	Point3D

Namespaces
	BT

Functions
template<>
Point3D	BT::convertFromString (const StringView &key)
int	main ()

Variables
const std::string	xml_text

Function Documentation

int main

(

)

Definition at line 65 of file t06_wrap_legacy.cpp.

Variable Documentation

const std::string xml_text

Initial value:

= R"(

 <root main_tree_to_execute = "MainTree" >
     <BehaviorTree ID="MainTree">
        <SequenceStar name="root">
            <MoveTo  goal="-1;3;0.5" />
            <MoveTo  goal="${myGoal}" />
        </SequenceStar>
     </BehaviorTree>
 </root>
 )"

In this tutorial we will see how to wrap legacy code into a BehaviorTree in a non-intrusive way, i.e. without modifying the original class

Definition at line 12 of file t06_wrap_legacy.cpp.