BT::Tree Class Reference

Struct used to store a tree. If this object goes out of scope, the tree is destroyed. More...

#include <bt_factory.h>

Public Member Functions
void	haltTree ()
void	initialize ()
Tree &	operator= (const Tree &)=delete
Tree &	operator= (Tree &&other)
Blackboard::Ptr	rootBlackboard ()
TreeNode *	rootNode () const
void	sleep (std::chrono::system_clock::duration timeout)
NodeStatus	tickRoot ()
	tickRoot send the tick signal to the root node. It will propagate through the entire tree. More...
NodeStatus	tickRootWhileRunning (std::chrono::milliseconds sleep_time=std::chrono::milliseconds(10))
	tickRootWhileRunning imply execute tickRoot in a loop as long as the status is RUNNING. More...
	Tree ()
	Tree (const Tree &)=delete
	Tree (Tree &&other)
	~Tree ()

Public Attributes
std::vector< Blackboard::Ptr >	blackboard_stack
std::unordered_map< std::string, TreeNodeManifest >	manifests
std::vector< TreeNode::Ptr >	nodes

Private Attributes
std::shared_ptr< WakeUpSignal >	wake_up_

Detailed Description

Struct used to store a tree. If this object goes out of scope, the tree is destroyed.

To tick the tree, simply call:

NodeStatus status = my_tree.tickRoot();

Definition at line 125 of file bt_factory.h.

Constructor & Destructor Documentation

Tree() [1/3]

BT::Tree::Tree ( )

inline

Definition at line 132 of file bt_factory.h.

Tree() [2/3]

BT::Tree::Tree ( const Tree &  )

delete

Tree() [3/3]

BT::Tree::Tree ( Tree &&  other )

inline

Definition at line 139 of file bt_factory.h.

~Tree()

BT::Tree::~Tree

(

)

Definition at line 337 of file bt_factory.cpp.

Member Function Documentation

haltTree()

void BT::Tree::haltTree ( )

inline

Definition at line 162 of file bt_factory.h.

initialize()

void BT::Tree::initialize ( )

inline

Definition at line 153 of file bt_factory.h.

operator=() [1/2]

Tree& BT::Tree::operator= ( const Tree &  )

delete

operator=() [2/2]

Tree& BT::Tree::operator= ( Tree &&  other )

inline

Definition at line 144 of file bt_factory.h.

rootBlackboard()

Blackboard::Ptr BT::Tree::rootBlackboard

(

)

Definition at line 342 of file bt_factory.cpp.

rootNode()

TreeNode* BT::Tree::rootNode ( ) const

inline

Definition at line 181 of file bt_factory.h.

sleep()

void BT::Tree::sleep

(

std::chrono::system_clock::duration

timeout

)

Sleep for a certain amount of time. This sleep could be interrupted by the method TreeNode::emitStateChanged()

Definition at line 332 of file bt_factory.cpp.

tickRoot()

NodeStatus BT::Tree::tickRoot ( )

inline

tickRoot send the tick signal to the root node. It will propagate through the entire tree.

Definition at line 210 of file bt_factory.h.

tickRootWhileRunning()

NodeStatus BT::Tree::tickRootWhileRunning ( std::chrono::milliseconds  sleep_time = std::chrono::milliseconds(10) )

inline

tickRootWhileRunning imply execute tickRoot in a loop as long as the status is RUNNING.

Parameters

sleep_time

maximum sleep time between consecutive loops.

Returns

should return only SUCCESS or FAILURE.

Definition at line 194 of file bt_factory.h.

Member Data Documentation

blackboard_stack

std::vector<Blackboard::Ptr> BT::Tree::blackboard_stack

Definition at line 129 of file bt_factory.h.

manifests

std::unordered_map<std::string, TreeNodeManifest> BT::Tree::manifests

Definition at line 130 of file bt_factory.h.

nodes

std::vector<TreeNode::Ptr> BT::Tree::nodes

Definition at line 128 of file bt_factory.h.

wake_up_

std::shared_ptr<WakeUpSignal> BT::Tree::wake_up_

private

Definition at line 239 of file bt_factory.h.

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

• bt_factory.h
• bt_factory.cpp