basic_types.h File Reference

#include <chrono>
#include <iostream>
#include <functional>
#include <string_view>
#include <typeinfo>
#include <unordered_map>
#include <utility>
#include <variant>
#include <vector>
#include "behaviortree_cpp/utils/safe_any.hpp"
#include "behaviortree_cpp/exceptions.h"
#include "behaviortree_cpp/contrib/expected.hpp"

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Classes
struct	BT::AnyTypeAllowed
struct	BT::has_static_method_metadata< T, typename >
struct	BT::has_static_method_metadata< T, typename std::enable_if< std::is_same< decltype(T::metadata()), KeyValueVector >::value >::type >
struct	BT::has_static_method_providedPorts< T, typename >
struct	BT::has_static_method_providedPorts< T, typename std::enable_if< std::is_same< decltype(T::providedPorts()), PortsList >::value >::type >
class	BT::PortInfo
struct	BT::Timestamp
class	BT::TypeInfo

Namespaces
	BT
	BT::details
	The SwitchNode is equivalent to a switch statement, where a certain branch (child) is executed according to the value of a blackboard entry.

Typedefs
using	BT::Duration = std::chrono::high_resolution_clock::duration
template<typename Predicate >
using	BT::enable_if = typename std::enable_if< Predicate::value >::type *
template<typename Predicate >
using	BT::enable_if_not = typename std::enable_if<!Predicate::value >::type *
template<typename T >
using	BT::Expected = nonstd::expected< T, std::string >
using	BT::KeyValueVector = std::vector< std::pair< std::string, std::string > >
using	BT::PortsList = std::unordered_map< std::string, PortInfo >
using	BT::Result = Expected< std::monostate >
using	BT::StringConverter = std::function< Any(StringView)>
using	BT::StringConvertersMap = std::unordered_map< const std::type_info *, StringConverter >
using	BT::StringView = std::string_view
using	BT::TimePoint = std::chrono::high_resolution_clock::time_point

Enumerations
enum	BT::NodeStatus {   BT::NodeStatus::IDLE = 0, BT::NodeStatus::RUNNING = 1, BT::NodeStatus::SUCCESS = 2, BT::NodeStatus::FAILURE = 3,   BT::NodeStatus::SKIPPED = 4 }
enum	BT::NodeType {   BT::NodeType::UNDEFINED = 0, BT::NodeType::ACTION, BT::NodeType::CONDITION, BT::NodeType::CONTROL,   BT::NodeType::DECORATOR, BT::NodeType::SUBTREE }
	Enumerates the possible types of nodes. More...
enum	BT::PortDirection { BT::PortDirection::INPUT, BT::PortDirection::OUTPUT, BT::PortDirection::INOUT }

Functions
template<typename T = AnyTypeAllowed, typename DefaultT = T>
std::pair< std::string, PortInfo >	BT::BidirectionalPort (StringView name, const DefaultT &default_value, StringView description)
template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	BT::BidirectionalPort (StringView name, StringView description={})
Any	BT::convertFromJSON (StringView json_text, std::type_index type)
	convertFromJSON will parse a json string and use JsonExporter to convert its content to a given type. It will work only if the type was previously registered. May throw if it fails. More...
template<typename T >
T	BT::convertFromJSON (StringView str)
	Same as the non template version, but with automatic casting. More...
template<>
Point3D	BT::convertFromString (StringView key)
template<>
bool	BT::convertFromString< bool > (StringView str)
template<>
const char *	BT::convertFromString< const char * > (StringView str)
template<>
double	BT::convertFromString< double > (StringView str)
template<>
float	BT::convertFromString< float > (StringView str)
template<>
int16_t	BT::convertFromString< int16_t > (StringView str)
template<>
int32_t	BT::convertFromString< int32_t > (StringView str)
template<>
int64_t	BT::convertFromString< int64_t > (StringView str)
template<>
int8_t	BT::convertFromString< int8_t > (StringView str)
template<>
NodeStatus	BT::convertFromString< NodeStatus > (StringView str)
template<>
NodeType	BT::convertFromString< NodeType > (StringView str)
template<>
PortDirection	BT::convertFromString< PortDirection > (StringView str)
template<>
std::string	BT::convertFromString< std::string > (StringView str)
template<>
std::vector< double >	BT::convertFromString< std::vector< double > > (StringView str)
template<>
std::vector< int >	BT::convertFromString< std::vector< int > > (StringView str)
template<>
std::vector< std::string >	BT::convertFromString< std::vector< std::string > > (StringView str)
template<>
uint16_t	BT::convertFromString< uint16_t > (StringView str)
template<>
uint32_t	BT::convertFromString< uint32_t > (StringView str)
template<>
uint64_t	BT::convertFromString< uint64_t > (StringView str)
template<>
uint8_t	BT::convertFromString< uint8_t > (StringView str)
template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	BT::CreatePort (PortDirection direction, StringView name, StringView description={})
template<typename T >
StringConverter	BT::GetAnyFromStringFunctor ()
template<>
StringConverter	BT::GetAnyFromStringFunctor< void > ()
template<typename T >
PortsList	BT::getProvidedPorts (enable_if< has_static_method_providedPorts< T >>=nullptr)
template<typename T >
PortsList	BT::getProvidedPorts (enable_if_not< has_static_method_providedPorts< T >>=nullptr)
template<typename T = AnyTypeAllowed, typename DefaultT = T>
std::pair< std::string, PortInfo >	BT::InputPort (StringView name, const DefaultT &default_value, StringView description)
template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	BT::InputPort (StringView name, StringView description={})
bool	BT::IsAllowedPortName (StringView str)
template<typename T >
constexpr bool	BT::IsConvertibleToString ()
bool	BT::isStatusActive (const NodeStatus &status)
bool	BT::isStatusCompleted (const NodeStatus &status)
std::ostream &	BT::operator<< (std::ostream &os, const BT::NodeStatus &status)
std::ostream &	BT::operator<< (std::ostream &os, const BT::NodeType &type)
std::ostream &	BT::operator<< (std::ostream &os, const BT::PortDirection &type)
template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	BT::OutputPort (StringView name, StringView default_value, StringView description)
template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	BT::OutputPort (StringView name, StringView description={})
template<typename T = AnyTypeAllowed, typename DefaultT = T>
std::pair< std::string, PortInfo >	BT::details::PortWithDefault (PortDirection direction, StringView name, const DefaultT &default_value, StringView description)
std::vector< StringView >	BT::splitString (const StringView &strToSplit, char delimeter)
bool	BT::StartWith (StringView str, char prefix)
bool	BT::StartWith (StringView str, StringView prefix)
Expected< std::string >	BT::toJsonString (const Any &value)
std::string	BT::toStr (BT::NodeStatus status, bool colored)
	toStr converts NodeStatus to string. Optionally colored. More...
template<typename T >
std::string	BT::toStr (const T &value)
	toStr is the reverse operation of convertFromString. More...
template<>
std::string	BT::toStr< bool > (const bool &value)
template<>
std::string	BT::toStr< BT::NodeStatus > (const BT::NodeStatus &status)
template<>
std::string	BT::toStr< BT::NodeType > (const BT::NodeType &type)
template<>
std::string	BT::toStr< BT::PortDirection > (const BT::PortDirection &direction)
template<>
std::string	BT::toStr< std::string > (const std::string &value)