IfThenElseNode must have exactly 2 or 3 children. This node is NOT reactive. More...
#include <if_then_else_node.h>
Inheritance diagram for BT::IfThenElseNode:
Public Member Functions | |
| virtual void | halt () override |
| IfThenElseNode (const std::string &name) | |
| virtual | ~IfThenElseNode () 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 NodeConfig &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 NodeConfig & | config () const |
| void | emitWakeUpSignal () |
| Notify that the tree should be ticked again() More... | |
| virtual BT::NodeStatus | executeTick () |
| The method that should be used to invoke tick() and setStatus();. 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 () |
Private Member Functions | |
| virtual BT::NodeStatus | tick () override |
| Method to be implemented by the user. More... | |
Private Attributes | |
| size_t | child_idx_ |
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) |
| Protected Attributes inherited from BT::ControlNode | |
| std::vector< TreeNode * > | children_nodes_ |
Detailed Description
IfThenElseNode must have exactly 2 or 3 children. This node is NOT reactive.
The first child is the "statement" of the if.
If that return SUCCESS, then the second child is executed.
Instead, if it returned FAILURE, the third child is executed.
If you have only 2 children, this node will return FAILURE whenever the statement returns FAILURE.
This is equivalent to add AlwaysFailure as 3rd child.
Definition at line 34 of file if_then_else_node.h.
Constructor & Destructor Documentation
◆ IfThenElseNode()
| BT::IfThenElseNode::IfThenElseNode | ( | const std::string & | name | ) |
Definition at line 17 of file if_then_else_node.cpp.
◆ ~IfThenElseNode()
|
overridevirtualdefault |
Member Function Documentation
◆ halt()
|
overridevirtual |
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 23 of file if_then_else_node.cpp.
◆ tick()
|
overrideprivatevirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Definition at line 29 of file if_then_else_node.cpp.
Member Data Documentation
◆ child_idx_
|
private |
Definition at line 44 of file if_then_else_node.h.
The documentation for this class was generated from the following files: