BT::TreeNode Class Reference

#include <tree_node.h>

Inheritance diagram for BT::TreeNode:

Public Types
typedef std::shared_ptr< TreeNode >	Ptr
using	StatusChangeCallback = StatusChangeSignal::CallableFunction
using	StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus >
using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

Public Member Functions
const Blackboard::Ptr &	blackboard () const
virtual BT::NodeStatus	executeTick ()
	The method that will be executed to invoke tick(); and setStatus();. More...
template<typename T >
BT::optional< T >	getParam (const std::string &key) const
template<typename T >
bool	getParam (const std::string &key, T &destination) const
virtual void	halt ()=0
	The method used to interrupt the execution of a RUNNING node. More...
const NodeParameters &	initializationParameters () const
bool	isHalted () const
const std::string &	name () const
const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance. More...
void	setBlackboard (const Blackboard::Ptr &bb)
void	setStatus (NodeStatus new_status)
NodeStatus	status () const
StatusChangeSubscriber	subscribeToStatusChange (StatusChangeCallback callback)
	subscribeToStatusChange is used to attach a callback to a status change. When StatusChangeSubscriber goes out of scope (it is a shared_ptr) the callback is unsubscribed automatically. More...
	TreeNode (const std::string &name, const NodeParameters &parameters)
	TreeNode main constructor. More...
virtual NodeType	type () const =0
uint16_t	UID () const
BT::NodeStatus	waitValidStatus ()
virtual	~TreeNode ()=default

Static Public Member Functions
static bool	isBlackboardPattern (StringView str)

Protected Member Functions
void	initializeOnce ()
void	setRegistrationName (const std::string &registration_name)
	registrationName() is set by the BehaviorTreeFactory More...
virtual BT::NodeStatus	tick ()=0
	Method to be implemented by the user. More...

Private Member Functions
virtual void	onInit ()

Private Attributes
Blackboard::Ptr	bb_
const std::string	name_
bool	not_initialized_
const NodeParameters	parameters_
std::string	registration_name_
StatusChangeSignal	state_change_signal_
std::condition_variable	state_condition_variable_
std::mutex	state_mutex_
NodeStatus	status_
const uint16_t	uid_

Friends
class	BehaviorTreeFactory

Detailed Description

Definition at line 39 of file tree_node.h.

Member Typedef Documentation

typedef std::shared_ptr<TreeNode> BT::TreeNode::Ptr

Definition at line 63 of file tree_node.h.

using BT::TreeNode::StatusChangeCallback = StatusChangeSignal::CallableFunction

Definition at line 91 of file tree_node.h.

using BT::TreeNode::StatusChangeSignal = Signal<TimePoint, const TreeNode&, NodeStatus, NodeStatus>

Definition at line 89 of file tree_node.h.

using BT::TreeNode::StatusChangeSubscriber = StatusChangeSignal::Subscriber

Definition at line 90 of file tree_node.h.

Constructor & Destructor Documentation

BT::TreeNode::TreeNode	(	const std::string &	name,
		const NodeParameters &	parameters
	)

TreeNode main constructor.

Parameters

name	name of the instance, not the type of sensor.
parameters	this might be empty. use getParam<T>(key) to parse the value.

Note: a node that accepts a not empty set of NodeParameters must also implement the method:

static const NodeParameters& requiredNodeParameters();

Definition at line 25 of file tree_node.cpp.

virtual BT::TreeNode::~TreeNode ( )

virtualdefault

Member Function Documentation

const Blackboard::Ptr & BT::TreeNode::blackboard

(

)

const

Definition at line 64 of file tree_node.cpp.

NodeStatus BT::TreeNode::executeTick ( )

virtual

The method that will be executed to invoke tick(); and setStatus();.

Reimplemented in BT::CoroActionNode, BT::AsyncActionNode, BT::SyncActionNode, BT::ActionNodeBase, and BT::DecoratorNode.

Definition at line 35 of file tree_node.cpp.

template<typename T >

BT::optional<T> BT::TreeNode::getParam ( const std::string &  key ) const

inline

Get a parameter from the NodeParameters and convert it to type T.

Definition at line 117 of file tree_node.h.

template<typename T >

bool BT::TreeNode::getParam ( const std::string &  key, T &  destination  ) const

inline

Get a parameter from the passed NodeParameters and convert it to type T. Return false either if there is no parameter with this key or if conversion failed.

Definition at line 170 of file tree_node.h.

virtual void BT::TreeNode::halt ( )

pure virtual

The method used to interrupt the execution of a RUNNING node.

Implemented in BT::CoroActionNode, FollowPath, BT::SimpleActionNode, MoveBaseAction, BT::SyncActionNode, BT::SimpleConditionNode, MyAsyncAction, BT::ControlNode, BT::RepeatNode, BT::AsyncActionTest, BT::SequenceStarNode, BT::FallbackStarNode, BT::ParallelNode, BT::RetryNode, ActionTestNode, ActionTestNode, BT::ConditionNode, and BT::DecoratorNode.

const NodeParameters & BT::TreeNode::initializationParameters

(

)

const

Parameters passed at construction time. Can never change after the creation of the TreeNode instance.

Definition at line 137 of file tree_node.cpp.

void BT::TreeNode::initializeOnce ( )

protected

Definition at line 118 of file tree_node.cpp.

bool BT::TreeNode::isBlackboardPattern ( StringView  str )

static

Definition at line 127 of file tree_node.cpp.

bool BT::TreeNode::isHalted

(

)

const

Definition at line 97 of file tree_node.cpp.

const std::string & BT::TreeNode::name

(

)

const

Definition at line 92 of file tree_node.cpp.

virtual void BT::TreeNode::onInit ( )

inlineprivatevirtual

This calback will be executed only ONCE after the constructor of the node, before the very first tick. Override if necessary.

Reimplemented in InitTestNode.

Definition at line 47 of file tree_node.h.

const std::string & BT::TreeNode::registrationName

(

)

const

registrationName is the ID used by BehaviorTreeFactory to create an instance.

Definition at line 132 of file tree_node.cpp.

void BT::TreeNode::setBlackboard

(

const Blackboard::Ptr &

bb

)

Definition at line 59 of file tree_node.cpp.

void BT::TreeNode::setRegistrationName ( const std::string &  registration_name )

protected

registrationName() is set by the BehaviorTreeFactory

Definition at line 113 of file tree_node.cpp.

void BT::TreeNode::setStatus

(

NodeStatus

new_status

)

Definition at line 43 of file tree_node.cpp.

NodeStatus BT::TreeNode::status

(

)

const

Definition at line 75 of file tree_node.cpp.

TreeNode::StatusChangeSubscriber BT::TreeNode::subscribeToStatusChange

(

TreeNode::StatusChangeCallback

callback

)

subscribeToStatusChange is used to attach a callback to a status change. When StatusChangeSubscriber goes out of scope (it is a shared_ptr) the callback is unsubscribed automatically.

Parameters

callback.

Must have signature void funcname(NodeStatus prev_status, NodeStatus new_status)

Returns

the subscriber.

Definition at line 103 of file tree_node.cpp.

virtual BT::NodeStatus BT::TreeNode::tick ( )

protectedpure virtual

Method to be implemented by the user.

Implemented in FollowPath, ComputePathToPose, BT::SimpleActionNode, BackUpAndSpin, IsStuck, MoveBaseAction, BT::SimpleConditionNode, BT::SimpleDecoratorNode, BT::SequenceStarNode, DummyNodes::SaySomething, BT::ParallelNode, BT::RetryNode, BT::FallbackStarNode, BT::BlackboardPreconditionNode< T >, BT::RepeatNode, BT::FallbackNode, BT::SequenceNode, DummyNodes::ApproachObject, BT::AsyncActionTest, InitTestNode, BT::SetBlackboard, BT::TimeoutNode, BT::ForceFailureDecorator, BT::ForceSuccessDecorator, BT::InverterNode, BT::AlwaysFailure, BT::AlwaysSuccess, MyAsyncAction, ActionTestNode, ActionTestNode, BT::ConditionTestNode, BT::DecoratorSubtreeNode, and BT::SyncActionTest.

virtual NodeType BT::TreeNode::type ( ) const

pure virtual

Implemented in BT::ControlNode, BT::ActionNodeBase, BT::ConditionNode, BT::DecoratorNode, and BT::DecoratorSubtreeNode.

uint16_t BT::TreeNode::UID

(

)

const

Definition at line 108 of file tree_node.cpp.

NodeStatus BT::TreeNode::waitValidStatus

(

)

Blocking function that will sleep until the setStatus() is called with either RUNNING, FAILURE or SUCCESS.

Definition at line 81 of file tree_node.cpp.

Friends And Related Function Documentation

friend class BehaviorTreeFactory

friend

Definition at line 138 of file tree_node.h.

Member Data Documentation

Blackboard::Ptr BT::TreeNode::bb_

private

Definition at line 162 of file tree_node.h.

const std::string BT::TreeNode::name_

private

Definition at line 146 of file tree_node.h.

bool BT::TreeNode::not_initialized_

private

Definition at line 144 of file tree_node.h.

const NodeParameters BT::TreeNode::parameters_

private

Definition at line 160 of file tree_node.h.

std::string BT::TreeNode::registration_name_

private

Definition at line 158 of file tree_node.h.

StatusChangeSignal BT::TreeNode::state_change_signal_

private

Definition at line 154 of file tree_node.h.

std::condition_variable BT::TreeNode::state_condition_variable_

private

Definition at line 150 of file tree_node.h.

std::mutex BT::TreeNode::state_mutex_

mutableprivate

Definition at line 152 of file tree_node.h.

NodeStatus BT::TreeNode::status_

private

Definition at line 148 of file tree_node.h.

const uint16_t BT::TreeNode::uid_

private

Definition at line 156 of file tree_node.h.

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

• tree_node.h
• tree_node.cpp