#include <bt_factory.h>

Classes
struct	has_static_method_requiredParams

struct	has_static_method_requiredParams< T, typename std::enable_if< std::is_same< decltype(T::requiredNodeParameters()), const NodeParameters & >::value >::type >

Public Member Functions
	BehaviorTreeFactory ()

const std::map< std::string, NodeBuilder > &	builders () const
	All the builders. Made available mostly for debug purposes. More...

const std::set< std::string > &	builtinNodes () const

std::unique_ptr< TreeNode >	instantiateTreeNode (const std::string &ID, const std::string &name, const NodeParameters &params, const Blackboard::Ptr &blackboard) const
	instantiateTreeNode creates a TreeNode More...

const std::vector< TreeNodeManifest > &	manifests () const
	Manifests of all the registered TreeNodes. More...

void	registerBuilder (const TreeNodeManifest &manifest, NodeBuilder builder)

void	registerFromPlugin (const std::string file_path)
	registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro). More...

template<typename T >
void	registerNodeType (const std::string &ID)

void	registerSimpleAction (const std::string &ID, const SimpleActionNode::TickFunctor &tick_functor)
	Register a SimpleActionNode. More...

void	registerSimpleCondition (const std::string &ID, const SimpleConditionNode::TickFunctor &tick_functor)
	Register a SimpleConditionNode. More...

void	registerSimpleDecorator (const std::string &ID, const SimpleDecoratorNode::TickFunctor &tick_functor)
	Register a SimpleDecoratorNode. More...

bool	unregisterBuilder (const std::string &ID)

Private Types
template<typename T >
using	has_default_constructor = typename std::is_constructible< T, const std::string & >

template<typename T >
using	has_params_constructor = typename std::is_constructible< T, const std::string &, const NodeParameters & >

Private Member Functions
template<typename T >
NodeBuilder	getBuilderImpl (typename std::enable_if< !has_params_constructor< T >::value >::type *=nullptr)

template<typename T >
NodeBuilder	getBuilderImpl (typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)

template<typename T >
NodeBuilder	getBuilderImpl (typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)

template<typename T >
NodeParameters	getRequiredParamsImpl (typename std::enable_if< has_static_method_requiredParams< T >::value >::type *=nullptr)

template<typename T >
NodeParameters	getRequiredParamsImpl (typename std::enable_if< !has_static_method_requiredParams< T >::value >::type *=nullptr)

template<typename T >
void	registerNodeTypeImpl (const std::string &ID)

void	sortTreeNodeManifests ()

Private Attributes
std::map< std::string, NodeBuilder >	builders_

std::set< std::string >	builtin_IDs_

std::vector< TreeNodeManifest >	manifests_

Detailed Description

Definition at line 45 of file bt_factory.h.

Member Typedef Documentation

template<typename T >

using BT::BehaviorTreeFactory::has_default_constructor = typename std::is_constructible<T, const std::string&>

private

Definition at line 151 of file bt_factory.h.

template<typename T >

using BT::BehaviorTreeFactory::has_params_constructor = typename std::is_constructible<T, const std::string&, const NodeParameters&>

private

Definition at line 154 of file bt_factory.h.

Constructor & Destructor Documentation

BT::BehaviorTreeFactory::BehaviorTreeFactory ( )

Definition at line 18 of file bt_factory.cpp.

Member Function Documentation

const std::map< std::string, NodeBuilder > & BT::BehaviorTreeFactory::builders ( ) const

All the builders. Made available mostly for debug purposes.

Definition at line 148 of file bt_factory.cpp.

const std::set< std::string > & BT::BehaviorTreeFactory::builtinNodes ( ) const

Definition at line 158 of file bt_factory.cpp.

template<typename T >

NodeBuilder BT::BehaviorTreeFactory::getBuilderImpl ( typename std::enable_if< !has_params_constructor< T >::value >::type * = nullptr )

inlineprivate

Definition at line 174 of file bt_factory.h.

template<typename T >

NodeBuilder BT::BehaviorTreeFactory::getBuilderImpl ( typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr )

inlineprivate

Definition at line 183 of file bt_factory.h.

template<typename T >

NodeBuilder BT::BehaviorTreeFactory::getBuilderImpl ( typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr )

inlineprivate

Definition at line 197 of file bt_factory.h.

template<typename T >

NodeParameters BT::BehaviorTreeFactory::getRequiredParamsImpl ( typename std::enable_if< has_static_method_requiredParams< T >::value >::type * = nullptr )

inlineprivate

Definition at line 206 of file bt_factory.h.

template<typename T >

NodeParameters BT::BehaviorTreeFactory::getRequiredParamsImpl ( typename std::enable_if< !has_static_method_requiredParams< T >::value >::type * = nullptr )

inlineprivate

Definition at line 212 of file bt_factory.h.

std::unique_ptr< TreeNode > BT::BehaviorTreeFactory::instantiateTreeNode	(	const std::string &	ID,
		const std::string &	name,
		const NodeParameters &	params,
		const Blackboard::Ptr &	blackboard
	)		const

instantiateTreeNode creates a TreeNode

Parameters

ID	unique ID used to register the node type
name	name of this particular instance
params	parameters (usually read from the XML definition)

Returns: new node.

Definition at line 125 of file bt_factory.cpp.

const std::vector< TreeNodeManifest > & BT::BehaviorTreeFactory::manifests ( ) const

Manifests of all the registered TreeNodes.

Definition at line 153 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerBuilder	(	const TreeNodeManifest &	manifest,
		NodeBuilder	builder
	)

More generic way to register your own builder. Most of the time you should use registerSimple???? or registerNodeType<> instead.

Definition at line 61 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerFromPlugin ( const std::string file_path )

registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro).

This method may throw.

Parameters

file_path path of the file

Definition at line 107 of file bt_factory.cpp.

template<typename T >

void BT::BehaviorTreeFactory::registerNodeType ( const std::string & ID )

inline

registerNodeType is the method to use to register your custom TreeNode.

It accepts only classed derived from either ActionNodeBase, DecoratorNode, ControlNode or ConditionNode.

REMINDER: If you want your derived class to

Definition at line 98 of file bt_factory.h.

template<typename T >

void BT::BehaviorTreeFactory::registerNodeTypeImpl ( const std::string & ID )

inlineprivate

Definition at line 165 of file bt_factory.h.

void BT::BehaviorTreeFactory::registerSimpleAction	(	const std::string &	ID,
		const SimpleActionNode::TickFunctor &	tick_functor
	)

Register a SimpleActionNode.

Definition at line 85 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerSimpleCondition	(	const std::string &	ID,
		const SimpleConditionNode::TickFunctor &	tick_functor
	)

Register a SimpleConditionNode.

Definition at line 74 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerSimpleDecorator	(	const std::string &	ID,
		const SimpleDecoratorNode::TickFunctor &	tick_functor
	)

Register a SimpleDecoratorNode.

Definition at line 96 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::sortTreeNodeManifests ( )

private

Definition at line 163 of file bt_factory.cpp.

bool BT::BehaviorTreeFactory::unregisterBuilder ( const std::string & ID )

Definition at line 50 of file bt_factory.cpp.

Member Data Documentation

std::map<std::string, NodeBuilder> BT::BehaviorTreeFactory::builders_

private

Definition at line 143 of file bt_factory.h.

std::set<std::string> BT::BehaviorTreeFactory::builtin_IDs_

private

Definition at line 145 of file bt_factory.h.

std::vector<TreeNodeManifest> BT::BehaviorTreeFactory::manifests_

private

Definition at line 144 of file bt_factory.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation