t01_build_your_first_tree.cpp File Reference

#include "behaviortree_cpp/bt_factory.h"

Include dependency graph for t01_build_your_first_tree.cpp:

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Functions
int	main ()

Variables
static const char *	xml_text

Function Documentation

int main

(

)

Definition at line 40 of file t01_build_your_first_tree.cpp.

Variable Documentation

const char* xml_text

static

Initial value:

= R"(

 <root main_tree_to_execute = "MainTree" >

     <BehaviorTree ID="MainTree">
        <Sequence name="root_sequence">
            <ApproachObject name="approach"/>
            <CheckBattery   name="battery_ok"/>
            <OpenGripper    name="open_gripper"/>
            <ApproachObject name="approach_object"/>
            <CloseGripper   name="close_gripper"/>
        </Sequence>
     </BehaviorTree>

 </root>
 )"

Behavior Tree are used to create a logic to decide what to "do" and when. For this reason, our main building blocks are Actions and Conditions.

In this tutorial, we will learn how to create custom ActionNodes. It is important to remember that NodeTree are just a way to invoke callbacks (called tick() ). These callbacks are implemented by the user.

Definition at line 21 of file t01_build_your_first_tree.cpp.