t03_generic_ports.cpp File Reference

#include "behaviortree_cpp/bt_factory.h"

Include dependency graph for t03_generic_ports.cpp:

Go to the source code of this file.

Classes
class	CalculateGoal
struct	Position2D
class	PrintTarget

Namespaces
	BT

Functions
template<>
Position2D	BT::convertFromString (StringView str)
int	main ()

Variables
static const char *	xml_text

Function Documentation

int main

(

)

Definition at line 118 of file t03_generic_ports.cpp.

Variable Documentation

const char* xml_text

static

Initial value:

= R"(

 <root main_tree_to_execute = "MainTree" >
     <BehaviorTree ID="MainTree">
        <Sequence name="root">
            <CalculateGoal   goal="{GoalPosition}" />
            <PrintTarget     target="{GoalPosition}" />
            <SetBlackboard   output_key="OtherGoal" value="-1;3" />
            <PrintTarget     target="{OtherGoal}" />
        </Sequence>
     </BehaviorTree>
 </root>
 )"

The tree is a Sequence of 4 actions

1) Store a value of Position2D in the entry "GoalPosition" using the action CalculateGoal.

2) Call PrintTarget. The input "target" will be read from the Blackboard entry "GoalPosition".

3) Use the built-in action SetBlackboard to write the key "OtherGoal". A conversion from string to Position2D will be done under the hood.

4) Call PrintTarget. The input "goal" will be read from the Blackboard entry "OtherGoal".

Definition at line 102 of file t03_generic_ports.cpp.