Namespaces
	detail

	details

	optional_lite

Classes
class	ActionNodeBase

class	AlwaysFailure

class	AlwaysSuccess

class	AsyncActionNode
	The AsyncActionNode a different thread where the action will be executed. More...

class	AsyncActionTest

class	BehaviorTreeException

class	BehaviorTreeFactory

class	Blackboard

class	BlackboardImpl

class	BlackboardLocal

class	BlackboardPreconditionNode

class	ConditionNode

class	ConditionTestNode

class	ControlNode

class	CoroActionNode
	The CoroActionNode class is an ideal candidate for asynchronous actions which need to communicate with a service provider using an asynch request/reply interface (being a notable example ActionLib in ROS, MoveIt clients or move_base clients). More...

class	DecoratorNode

class	DecoratorSubtreeNode

class	FallbackNode
	The FallbackNode is used to try different strategies, until one succeed. If any child returns RUNNING, previous children will be ticked again. More...

class	FallbackStarNode
	The FallbackStarNode is used to try different strategies, until one succeed. If any child returns RUNNING, previous children will NOT be ticked again. More...

class	FileLogger

class	ForceFailureDecorator

class	ForceSuccessDecorator

struct	in_place_t

class	InverterNode

class	LeafNode

class	MinitraceLogger

class	ParallelNode

class	PublisherZMQ

class	RepeatNode

class	RetryNode

class	scoped_demangled_name

class	SequenceNode
	The SequenceNode is used to execute a sequence of children. If any child returns RUNNING, previous children will be ticked again. More...

class	SequenceStarNode
	The SequenceStarNode is used to execute a sequence of children. If any child returns RUNNING, previous children are not ticked again. More...

class	SetBlackboard

class	SharedLibrary

class	Signal

class	SimpleActionNode
	The SimpleActionNode provides an easy to use ActionNode. The user should simply provide a callback with this signature. More...

class	SimpleConditionNode
	The SimpleConditionNode provides an easy to use ConditionNode. The user should simply provide a callback with this signature. More...

class	SimpleDecoratorNode
	The SimpleDecoratorNode provides an easy to use DecoratorNode. The user should simply provide a callback with this signature. More...

class	StatusChangeLogger

class	StdCoutLogger
	AddStdCoutLoggerToTree. Give the root node of a tree, a simple callback is subscribed to any status change of each node. More...

class	SyncActionNode
	The SyncActionNode is an helper derived class that explicitly forbids the status RUNNING and doesn't require an implementation of halt() More...

class	SyncActionTest

class	TickEngine

class	TimeoutNode

class	TimerQueue

struct	Tree

class	TreeNode

struct	TreeNodeManifest
	This information is used mostly by the XMLParser. More...

class	XMLParser

Typedefs
typedef AsyncActionNode	ActionNode

typedef std::chrono::high_resolution_clock::duration	Duration

typedef std::function< std::unique_ptr< TreeNode >const std::string &, const NodeParameters &)>	NodeBuilder
	The term "Builder" refers to the Builder Pattern (https://en.wikipedia.org/wiki/Builder_pattern) More...

typedef std::unordered_map< std::string, std::string >	NodeParameters

typedef std::array< uint8_t, 12 >	SerializedTransition

typedef std::vector< std::pair< uint16_t, uint8_t > >	SerializedTreeStatus

typedef nonstd::string_view	StringView

typedef std::chrono::high_resolution_clock::time_point	TimePoint

Enumerations
enum	FailurePolicy { FAIL_ON_ONE, FAIL_ON_ALL }

enum	NodeStatus { NodeStatus::IDLE = 0, NodeStatus::RUNNING, NodeStatus::SUCCESS, NodeStatus::FAILURE }

enum	NodeType { NodeType::UNDEFINED = 0, NodeType::ACTION, NodeType::CONDITION, NodeType::CONTROL, NodeType::DECORATOR, NodeType::SUBTREE }

enum	SuccessPolicy { SUCCEED_ON_ONE, SUCCEED_ON_ALL }

enum	TimestampType { TimestampType::ABSOLUTE, TimestampType::RELATIVE }

Functions
void	applyRecursiveVisitor (const TreeNode root_node, const std::function< void(const TreeNode )> &visitor)

void	applyRecursiveVisitor (TreeNode root_node, const std::function< void(TreeNode )> &visitor)

void	assignBlackboardToEntireTree (TreeNode *root_node, const Blackboard::Ptr &bb)

void	buildSerializedStatusSnapshot (const TreeNode *root_node, SerializedTreeStatus &serialized_buffer)
	buildSerializedStatusSnapshot can be used to create a serialize buffer that can be stored (or sent to a client application) to know the status of all the nodes of a tree. It is not "human readable". More...

void	buildSerializedStatusSnapshot (TreeNode *root_node, SerializedTreeStatus &serialized_buffer)

Tree	buildTreeFromFile (const BehaviorTreeFactory &factory, const std::string &filename, const Blackboard::Ptr &blackboard=Blackboard::Ptr())

Tree	buildTreeFromText (const BehaviorTreeFactory &factory, const std::string &text, const Blackboard::Ptr &blackboard=Blackboard::Ptr())

template<>
Pose2D	convertFromString (const StringView &key)

template<>
Point3D	convertFromString (const StringView &key)

template<typename T >
T	convertFromString (const StringView &)

template<>
bool	convertFromString< bool > (const StringView &str)

template<>
const char *	convertFromString< const char * > (const StringView &str)

template<>
double	convertFromString< double > (const StringView &str)

template<>
int	convertFromString< int > (const StringView &str)

template<>
NodeStatus	convertFromString< NodeStatus > (const StringView &str)

template<>
NodeType	convertFromString< NodeType > (const StringView &str)

template<>
std::string	convertFromString< std::string > (const StringView &str)

template<>
std::vector< double >	convertFromString< std::vector< double > > (const StringView &str)

template<>
std::vector< int >	convertFromString< std::vector< int > > (const StringView &str)

template<>
unsigned	convertFromString< unsigned > (const StringView &str)

BT_Serialization::Type	convertToFlatbuffers (NodeType type)

BT_Serialization::Status	convertToFlatbuffers (NodeStatus type)

void	CreateFlatbuffersBehaviorTree (flatbuffers::FlatBufferBuilder &builder, BT::TreeNode *root_node)

std::string	demangle (char const *name)

char const *	demangle_alloc (char const *name) noexcept

void	demangle_free (char const *name) noexcept

template<typename T >
NodeType	getType ()

static uint16_t	getUID ()

void	haltAllActions (TreeNode *root_node)

template<class T >
in_place_t	in_place (detail::in_place_type_tag< T >=detail::in_place_type_tag< T >())

template<std::size_t I>
in_place_t	in_place (detail::in_place_index_tag< I >=detail::in_place_index_tag< I >())

template<std::size_t I>
in_place_t	in_place_index (detail::in_place_index_tag< I >=detail::in_place_index_tag< I >())

template<class T >
in_place_t	in_place_type (detail::in_place_type_tag< T >=detail::in_place_type_tag< T >())

std::ostream &	operator<< (std::ostream &os, const BT::NodeStatus &status)

std::ostream &	operator<< (std::ostream &os, const BT::NodeType &type)

void	printTreeRecursively (const TreeNode *root_node)

SerializedTransition	SerializeTransition (uint16_t UID, Duration timestamp, NodeStatus prev_status, NodeStatus status)

std::vector< StringView >	splitString (const StringView &strToSplit, char delimeter)

const char *	toStr (const BT::NodeStatus &status, bool colored=false)
	toStr converts NodeStatus to string. Optionally colored. More...

const char *	toStr (const BT::NodeType &type)
	toStr converts NodeType to string. More...

std::string	writeXML (const BehaviorTreeFactory &factory, const TreeNode *root_node, bool compact_representation=false)

Variables
const char	PLUGIN_SYMBOL [] = "BT_RegisterNodesFromPlugin"

Typedef Documentation

typedef AsyncActionNode BT::ActionNode

Definition at line 148 of file action_node.h.

typedef std::chrono::high_resolution_clock::duration BT::Duration

Definition at line 36 of file tree_node.h.

typedef std::function<std::unique_ptr<TreeNode>const std::string&, const NodeParameters&)> BT::NodeBuilder

The term "Builder" refers to the Builder Pattern (https://en.wikipedia.org/wiki/Builder_pattern)

Definition at line 30 of file bt_factory.h.

typedef std::unordered_map<std::string, std::string> BT::NodeParameters

Definition at line 33 of file tree_node.h.

typedef std::array<uint8_t, 12> BT::SerializedTransition

Definition at line 14 of file abstract_logger.h.

typedef std::vector<std::pair<uint16_t, uint8_t> > BT::SerializedTreeStatus

Definition at line 57 of file behavior_tree.h.

typedef nonstd::string_view BT::StringView

Definition at line 58 of file basic_types.h.

typedef std::chrono::high_resolution_clock::time_point BT::TimePoint

Definition at line 35 of file tree_node.h.

Enumeration Type Documentation

enum BT::FailurePolicy

Enumerator
FAIL_ON_ONE
FAIL_ON_ALL

Definition at line 41 of file basic_types.h.

enum BT::NodeStatus

strong

Enumerator
IDLE
RUNNING
SUCCESS
FAILURE

Definition at line 28 of file basic_types.h.

enum BT::NodeType

strong

Enumerator
UNDEFINED
ACTION
CONDITION
CONTROL
DECORATOR
SUBTREE

Definition at line 16 of file basic_types.h.

enum BT::SuccessPolicy

Enumerator
SUCCEED_ON_ONE
SUCCEED_ON_ALL

Definition at line 52 of file basic_types.h.

enum BT::TimestampType

strong

Enumerator
ABSOLUTE
RELATIVE

Definition at line 8 of file abstract_logger.h.

Function Documentation

void BT::applyRecursiveVisitor	(	const TreeNode *	root_node,
		const std::function< void(const TreeNode *)> &	visitor
	)

Definition at line 18 of file behavior_tree.cpp.

void BT::applyRecursiveVisitor	(	TreeNode *	root_node,
		const std::function< void(TreeNode *)> &	visitor
	)

Definition at line 41 of file behavior_tree.cpp.

void BT::assignBlackboardToEntireTree	(	TreeNode *	root_node,
		const Blackboard::Ptr &	bb
	)

Definition at line 110 of file behavior_tree.cpp.

void BT::buildSerializedStatusSnapshot	(	const TreeNode *	root_node,
		SerializedTreeStatus &	serialized_buffer
	)

buildSerializedStatusSnapshot can be used to create a serialize buffer that can be stored (or sent to a client application) to know the status of all the nodes of a tree. It is not "human readable".

Parameters

root_node
serialized_buffer	is the output.

void BT::buildSerializedStatusSnapshot	(	TreeNode *	root_node,
		SerializedTreeStatus &	serialized_buffer
	)

Definition at line 98 of file behavior_tree.cpp.

Tree BT::buildTreeFromFile	(	const BehaviorTreeFactory &	factory,
		const std::string &	filename,
		const Blackboard::Ptr &	blackboard = `Blackboard::Ptr()`
	)

Helper function to do the most common steps all at once: 1) Create an instance of XMLParse and call loadFromFile. 2) Instantiate the entire tree. 3) Assign the given Blackboard

return: a pair containing the root node (first) and a vector with all the instantiated nodes (second).

Definition at line 513 of file xml_parsing.cpp.

Tree BT::buildTreeFromText	(	const BehaviorTreeFactory &	factory,
		const std::string &	text,
		const Blackboard::Ptr &	blackboard = `Blackboard::Ptr()`
	)

Helper function to do the most common steps all at once: 1) Create an instance of XMLParse and call loadFromText. 2) Instantiate the entire tree. 3) Assign the given Blackboard

return: a pair containing the root node (first) and a vector with all the instantiated nodes (second).

Definition at line 501 of file xml_parsing.cpp.

template<>

Pose2D BT::convertFromString ( const StringView & key )

Definition at line 26 of file movebase_node.h.

template<>

Point3D BT::convertFromString ( const StringView & key )

Definition at line 45 of file t06_wrap_legacy.cpp.

template<typename T >

T BT::convertFromString ( const StringView & )

inline

TreeNode::getParam requires convertFromString to be implemented for your specific type, unless you are try to read it from a blackboard.

Definition at line 64 of file basic_types.h.

template<>

bool BT::convertFromString< bool > ( const StringView & str )

Definition at line 126 of file basic_types.cpp.

template<>

const char * BT::convertFromString< const char * > ( const StringView & str )

Definition at line 74 of file basic_types.cpp.

template<>

double BT::convertFromString< double > ( const StringView & str )

Definition at line 92 of file basic_types.cpp.

template<>

int BT::convertFromString< int > ( const StringView & str )

Definition at line 80 of file basic_types.cpp.

template<>

NodeStatus BT::convertFromString< NodeStatus > ( const StringView & str )

Definition at line 171 of file basic_types.cpp.

template<>

NodeType BT::convertFromString< NodeType > ( const StringView & str )

Definition at line 185 of file basic_types.cpp.

template<>

std::string BT::convertFromString< std::string > ( const StringView & str )

Definition at line 68 of file basic_types.cpp.

template<>

std::vector< double > BT::convertFromString< std::vector< double > > ( const StringView & str )

Definition at line 112 of file basic_types.cpp.

template<>

std::vector< int > BT::convertFromString< std::vector< int > > ( const StringView & str )

Definition at line 98 of file basic_types.cpp.

template<>

unsigned BT::convertFromString< unsigned > ( const StringView & str )

Definition at line 86 of file basic_types.cpp.

BT_Serialization::Type BT::convertToFlatbuffers ( NodeType type )

inline

Definition at line 9 of file bt_flatbuffer_helper.h.

BT_Serialization::Status BT::convertToFlatbuffers ( NodeStatus type )

inline

Definition at line 29 of file bt_flatbuffer_helper.h.

void BT::CreateFlatbuffersBehaviorTree	(	flatbuffers::FlatBufferBuilder &	builder,
		BT::TreeNode *	root_node
	)

inline

Definition at line 45 of file bt_flatbuffer_helper.h.

std::string BT::demangle ( char const * name )

inline

Definition at line 92 of file demangle_util.h.

char const * BT::demangle_alloc ( char const * name )

inlinenoexcept

Definition at line 83 of file demangle_util.h.

void BT::demangle_free ( char const * name )

inlinenoexcept

Definition at line 88 of file demangle_util.h.

template<typename T >

NodeType BT::getType ( )

inline

Simple way to extract the type of a TreeNode at COMPILE TIME. Useful to avoid the cost of without dynamic_cast or the virtual method TreeNode::type().

Definition at line 73 of file behavior_tree.h.

static uint16_t BT::getUID ( )

static

Definition at line 19 of file tree_node.cpp.

void BT::haltAllActions ( TreeNode * root_node )

Definition at line 116 of file behavior_tree.cpp.

template<class T >

in_place_t BT::in_place ( detail::in_place_type_tag< T > = detail::in_place_type_tag<T>() )

inline

Definition at line 302 of file optional.hpp.

template<std::size_t I>

in_place_t BT::in_place ( detail::in_place_index_tag< I > = detail::in_place_index_tag<I>() )

inline

Definition at line 308 of file optional.hpp.

template<std::size_t I>

in_place_t BT::in_place_index ( detail::in_place_index_tag< I > = detail::in_place_index_tag<I>() )

inline

Definition at line 320 of file optional.hpp.

template<class T >

in_place_t BT::in_place_type ( detail::in_place_type_tag< T > = detail::in_place_type_tag<T>() )

inline

Definition at line 314 of file optional.hpp.

std::ostream & BT::operator<<	(	std::ostream &	os,
		const BT::NodeStatus &	status
	)

Definition at line 204 of file basic_types.cpp.

std::ostream & BT::operator<<	(	std::ostream &	os,
		const BT::NodeType &	type
	)

Definition at line 198 of file basic_types.cpp.

void BT::printTreeRecursively ( const TreeNode * root_node )

Debug function to print on a stream

Definition at line 63 of file behavior_tree.cpp.

SerializedTransition BT::SerializeTransition	(	uint16_t	UID,
		Duration	timestamp,
		NodeStatus	prev_status,
		NodeStatus	status
	)

inline

Serialize manually the informations about state transition No flatbuffer serialization here

Definition at line 92 of file bt_flatbuffer_helper.h.

std::vector< StringView > BT::splitString	(	const StringView &	strToSplit,
		char	delimeter
	)

Definition at line 210 of file basic_types.cpp.

const char * BT::toStr	(	const BT::NodeStatus &	status,
		bool	colored = `false`
	)

toStr converts NodeStatus to string. Optionally colored.

Definition at line 7 of file basic_types.cpp.

const char * BT::toStr ( const BT::NodeType & type )

toStr converts NodeType to string.

Definition at line 48 of file basic_types.cpp.

std::string BT::writeXML	(	const BehaviorTreeFactory &	factory,
		const TreeNode *	root_node,
		bool	compact_representation = `false`
	)

Definition at line 524 of file xml_parsing.cpp.

Variable Documentation

const char BT::PLUGIN_SYMBOL[] = "BT_RegisterNodesFromPlugin"

Definition at line 40 of file bt_factory.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation