5 #ifdef MANUAL_STATIC_LINKING 23 <root main_tree_to_execute = "MainTree" > 25 <BehaviorTree ID="MainTree"> 26 <Sequence name="root_sequence"> 27 <CheckBattery name="battery_ok"/> 28 <OpenGripper name="open_gripper"/> 29 <ApproachObject name="approach_object"/> 30 <CloseGripper name="close_gripper"/> 49 #ifdef MANUAL_STATIC_LINKING
void registerNodeType(const std::string &ID)
The BehaviorTreeFactory is used to create instances of a TreeNode at run-time.
Tree createTreeFromText(const std::string &text, Blackboard::Ptr blackboard=Blackboard::create())
void registerFromPlugin(const std::string &file_path)
registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro)...
void registerSimpleAction(const std::string &ID, const SimpleActionNode::TickFunctor &tick_functor, PortsList ports={})
registerSimpleAction help you register nodes of type SimpleActionNode.
static const char * xml_text
void registerSimpleCondition(const std::string &ID, const SimpleConditionNode::TickFunctor &tick_functor, PortsList ports={})
registerSimpleCondition help you register nodes of type SimpleConditionNode.
BT::NodeStatus CheckBattery()