The SwitchNode is equivalent to a switch statement, where a certain branch (child) is executed according to the value of a blackboard entry. More...
#include <switch_node.h>
Public Member Functions | |
| void | halt () override |
| SwitchNode (const std::string &name, const BT::NodeConfiguration &config) | |
| virtual | ~SwitchNode () override=default |
 Public Member Functions inherited from BT::ControlNode | |
| void | addChild (TreeNode *child) |
| The method used to add nodes to the children vector. More... | |
| const TreeNode * | child (size_t index) const |
| const std::vector< TreeNode * > & | children () const |
| size_t | childrenCount () const |
| ControlNode (const std::string &name, const NodeConfiguration &config) | |
| void | haltChild (size_t i) |
| void | haltChildren () |
| same as resetChildren() More... | |
| void | haltChildren (size_t first) |
| void | resetChildren () |
| virtual NodeType | type () const override final |
| virtual | ~ControlNode () override=default |
| Public Member Functions inherited from BT::TreeNode | |
| const NodeConfiguration & | config () const |
| void | emitStateChanged () |
| virtual BT::NodeStatus | executeTick () |
| The method that should be used to invoke tick() and setStatus();. More... | |
| template<typename T > | |
| Result | getInput (const std::string &key, T &destination) const |
| template<typename T > | |
| Optional< T > | getInput (const std::string &key) const |
| StringView | getRawPortValue (const std::string &key) const |
| bool | isHalted () const |
| const std::string & | name () const |
| Name of the instance, not the type. More... | |
| const std::string & | registrationName () const |
| registrationName is the ID used by BehaviorTreeFactory to create an instance. More... | |
| template<typename T > | |
| Result | setOutput (const std::string &key, const T &value) |
| void | setPostTickOverrideFunction (PostTickOverrideCallback callback) |
| void | setPreTickOverrideFunction (PreTickOverrideCallback callback) |
| 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 (std::string name, NodeConfiguration config) | |
| TreeNode main constructor. More... | |
| uint16_t | UID () const |
| BT::NodeStatus | waitValidStatus () |
| virtual | ~TreeNode ()=default |
Static Public Member Functions | |
| static PortsList | providedPorts () |
| Static Public Member Functions inherited from BT::TreeNode | |
| static Optional< StringView > | getRemappedKey (StringView port_name, StringView remapping_value) |
| static bool | isBlackboardPointer (StringView str) |
| static StringView | stripBlackboardPointer (StringView str) |
Private Member Functions | |
| virtual BT::NodeStatus | tick () override |
| Method to be implemented by the user. More... | |
Private Attributes | |
| int | running_child_ |
Additional Inherited Members | |
| Public Types inherited from BT::TreeNode | |
| using | PostTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus, NodeStatus)> |
| using | PreTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus)> |
| typedef std::shared_ptr< TreeNode > | Ptr |
| using | StatusChangeCallback = StatusChangeSignal::CallableFunction |
| using | StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus > |
| using | StatusChangeSubscriber = StatusChangeSignal::Subscriber |
| Protected Member Functions inherited from BT::TreeNode | |
| void | modifyPortsRemapping (const PortsRemapping &new_remapping) |
| void | resetStatus () |
| Equivalent to setStatus(NodeStatus::IDLE) More... | |
| void | setRegistrationID (StringView ID) |
| void | setStatus (NodeStatus new_status) |
| void | setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance) |
| Protected Attributes inherited from BT::ControlNode | |
| std::vector< TreeNode * > | children_nodes_ |
Detailed Description
template<size_t NUM_CASES>
class BT::SwitchNode< NUM_CASES >
The SwitchNode is equivalent to a switch statement, where a certain branch (child) is executed according to the value of a blackboard entry.
Note that the same behaviour can be achieved with multiple Sequences, Fallbacks and Conditions reading the blackboard, but switch is shorter and more readable.
Example usage:
<Switch3 variable="{var}" case_1="1" case_2="42" case_3="666"> <ActionA name="action_when_var_eq_1"> <ActionB name="action_when_var_eq_42"> <ActionC name="action_when_var_eq_666"> <ActionD name="default_action"> </Switch3>
When the SwitchNode is executed (Switch3 is a node with 3 cases) the "variable" will be compared to the cases and execute the correct child or the default one (last).
Definition at line 43 of file switch_node.h.
Constructor & Destructor Documentation
◆ SwitchNode()
|
inline |
Definition at line 46 of file switch_node.h.
◆ ~SwitchNode()
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overridevirtualdefault |
Member Function Documentation
◆ halt()
|
inlineoverridevirtual |
The method used to interrupt the execution of a RUNNING node. Only Async nodes that may return RUNNING should implement it.
Reimplemented from BT::ControlNode.
Definition at line 54 of file switch_node.h.
◆ providedPorts()
|
inlinestatic |
Definition at line 60 of file switch_node.h.
◆ tick()
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inlineoverrideprivatevirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Definition at line 79 of file switch_node.h.
Member Data Documentation
◆ running_child_
|
private |
Definition at line 74 of file switch_node.h.
The documentation for this class was generated from the following file: