#include <decorator_node.h>

Inheritance diagram for BT::DecoratorNode:

[legend]

Public Member Functions
TreeNode *	child ()

const TreeNode *	child () const

	DecoratorNode (const std::string &name, const NodeConfig &config)

NodeStatus	executeTick () override
	The method that should be used to invoke tick() and setStatus();. More...

virtual void	halt () override
	The method used to interrupt the execution of this node. More...

void	haltChild ()
	Same as resetChild() More...

void	resetChild ()

void	setChild (TreeNode *child)

virtual NodeType	type () const override

virtual	~DecoratorNode () override=default

Public Member Functions inherited from BT::TreeNode
const NodeConfig &	config () const

void	emitWakeUpSignal ()
	Notify that the tree should be ticked again() More...

const std::string &	fullPath () const

template<typename T >
Expected< T >	getInput (const std::string &key) const

template<typename T >
Result	getInput (const std::string &key, T &destination) const

template<typename T >
Expected< StampedValue< T > >	getInputStamped (const std::string &key) const

template<typename T >
Expected< Timestamp >	getInputStamped (const std::string &key, T &destination) const
	getInputStamped is similar to getInput(dey, destination), but it returne also the Timestamp object, that can be used to check if a value was updated and when. More...

AnyPtrLocked	getLockedPortContent (const std::string &key)
	getLockedPortContent should be used when: More...

StringView	getRawPortValue (const std::string &key) const

void	haltNode ()

bool	isHalted () const

const std::string &	name () const
	Name of the instance, not the type. More...

TreeNode &	operator= (const TreeNode &other)=delete

TreeNode &	operator= (TreeNode &&other) noexcept

const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance. More...

bool	requiresWakeUp () const

template<typename T >
Result	setOutput (const std::string &key, const T &value)
	setOutput modifies the content of an Output port More...

void	setPostTickFunction (PostTickCallback callback)

void	setPreTickFunction (PreTickCallback callback)

void	setTickMonitorCallback (TickMonitorCallback 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 (const TreeNode &other)=delete

	TreeNode (std::string name, NodeConfig config)
	TreeNode main constructor. More...

	TreeNode (TreeNode &&other) noexcept

uint16_t	UID () const

BT::NodeStatus	waitValidStatus ()

virtual	~TreeNode ()

Protected Attributes
TreeNode *	child_node_

Additional Inherited Members
Public Types inherited from BT::TreeNode
using	PostTickCallback = std::function< NodeStatus(TreeNode &, NodeStatus)>

using	PreTickCallback = std::function< NodeStatus(TreeNode &)>

typedef std::shared_ptr< TreeNode >	Ptr

using	StatusChangeCallback = StatusChangeSignal::CallableFunction

using	StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus >

using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

using	TickMonitorCallback = std::function< void(TreeNode &, NodeStatus, std::chrono::microseconds)>

Static Public Member Functions inherited from BT::TreeNode
static Expected< StringView >	getRemappedKey (StringView port_name, StringView remapped_port)

template<class DerivedT , typename... ExtraArgs>
static std::unique_ptr< TreeNode >	Instantiate (const std::string &name, const NodeConfig &config, ExtraArgs... args)

static bool	isBlackboardPointer (StringView str, StringView *stripped_pointer=nullptr)
	Check a string and return true if it matches the pattern: {...}. More...

static StringView	stripBlackboardPointer (StringView str)

Protected Types inherited from BT::TreeNode
using	PostScripts = std::array< ScriptFunction, size_t(PostCond::COUNT_)>

using	PreScripts = std::array< ScriptFunction, size_t(PreCond::COUNT_)>

Protected Member Functions inherited from BT::TreeNode
NodeConfig &	config ()

void	modifyPortsRemapping (const PortsRemapping &new_remapping)

template<typename T >
T	parseString (const std::string &str) const

PostScripts &	postConditionsScripts ()

PreScripts &	preConditionsScripts ()

void	resetStatus ()
	Set the status to IDLE. More...

void	setRegistrationID (StringView ID)

void	setStatus (NodeStatus new_status)
	setStatus changes the status of the node. it will throw if you try to change the status to IDLE, because your parent node should do that, not the user! More...

void	setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance)

virtual BT::NodeStatus	tick ()=0
	Method to be implemented by the user. More...

Detailed Description

Definition at line 8 of file decorator_node.h.

Constructor & Destructor Documentation

◆ DecoratorNode()

BT::DecoratorNode::DecoratorNode	(	const std::string &	name,
		const NodeConfig &	config
	)

Definition at line 18 of file decorator_node.cpp.

◆ ~DecoratorNode()

virtual BT::DecoratorNode::~DecoratorNode ( )

overridevirtualdefault

Member Function Documentation

◆ child() [1/2]

TreeNode* BT::DecoratorNode::child ( )

◆ child() [2/2]

TreeNode * BT::DecoratorNode::child ( ) const

Definition at line 38 of file decorator_node.cpp.

◆ executeTick()

NodeStatus BT::DecoratorNode::executeTick ( )

overridevirtual

The method that should be used to invoke tick() and setStatus();.

Reimplemented from BT::TreeNode.

Definition at line 77 of file decorator_node.cpp.

◆ halt()

void BT::DecoratorNode::halt ( )

overridevirtual

The method used to interrupt the execution of this node.

Implements BT::TreeNode.

Reimplemented in BT::TimeoutNode, BT::RepeatNode, BT::RetryNode, BT::DelayNode, and BT::EntryUpdatedDecorator.

Definition at line 32 of file decorator_node.cpp.

◆ haltChild()

void BT::DecoratorNode::haltChild ( )

Same as resetChild()

Definition at line 48 of file decorator_node.cpp.

◆ resetChild()

void BT::DecoratorNode::resetChild ( )

Set the status of the child to IDLE. also send a halt() signal to a RUNNING child

Definition at line 53 of file decorator_node.cpp.

◆ setChild()

void BT::DecoratorNode::setChild ( TreeNode * child )

Definition at line 22 of file decorator_node.cpp.

◆ type()

virtual NodeType BT::DecoratorNode::type ( ) const

inlineoverridevirtual

Implements BT::TreeNode.

Reimplemented in BT::SubTreeNode.

Definition at line 30 of file decorator_node.h.

Member Data Documentation

◆ child_node_

TreeNode* BT::DecoratorNode::child_node_

protected

Definition at line 11 of file decorator_node.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members