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| size_t | failureThreshold () const |
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| virtual void | halt () override |
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| | ParallelNode (const std::string &name) |
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| | ParallelNode (const std::string &name, const NodeConfig &config) |
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| void | setFailureThreshold (int threshold) |
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| void | setSuccessThreshold (int threshold) |
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| size_t | successThreshold () const |
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| | ~ParallelNode () override=default |
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| void | addChild (TreeNode *child) |
| | The method used to add nodes to the children vector. More...
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| const TreeNode * | child (size_t index) const |
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| const std::vector< TreeNode * > & | children () const |
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| size_t | childrenCount () const |
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| | ControlNode (const std::string &name, const NodeConfig &config) |
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| void | haltChild (size_t i) |
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| void | haltChildren () |
| | same as resetChildren() More...
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| void | haltChildren (size_t first) |
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| void | resetChildren () |
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| virtual NodeType | type () const override final |
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| virtual | ~ControlNode () override=default |
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| const NodeConfig & | config () const |
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| void | emitWakeUpSignal () |
| | Notify that the tree should be ticked again() More...
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| virtual BT::NodeStatus | executeTick () |
| | The method that should be used to invoke tick() and setStatus();. More...
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| const std::string & | fullPath () const |
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| template<typename T > |
| Expected< T > | getInput (const std::string &key) const |
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| template<typename T > |
| Result | getInput (const std::string &key, T &destination) const |
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| template<typename T > |
| Expected< StampedValue< T > > | getInputStamped (const std::string &key) const |
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| 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...
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| AnyPtrLocked | getLockedPortContent (const std::string &key) |
| | getLockedPortContent should be used when: More...
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| StringView | getRawPortValue (const std::string &key) const |
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| void | haltNode () |
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| bool | isHalted () const |
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| const std::string & | name () const |
| | Name of the instance, not the type. More...
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| TreeNode & | operator= (const TreeNode &other)=delete |
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| TreeNode & | operator= (TreeNode &&other) noexcept |
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| const std::string & | registrationName () const |
| | registrationName is the ID used by BehaviorTreeFactory to create an instance. More...
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| bool | requiresWakeUp () const |
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| template<typename T > |
| Result | setOutput (const std::string &key, const T &value) |
| | setOutput modifies the content of an Output port More...
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| void | setPostTickFunction (PostTickCallback callback) |
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| void | setPreTickFunction (PreTickCallback callback) |
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| void | setTickMonitorCallback (TickMonitorCallback callback) |
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| NodeStatus | status () const |
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| 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...
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| | TreeNode (const TreeNode &other)=delete |
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| | TreeNode (std::string name, NodeConfig config) |
| | TreeNode main constructor. More...
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| | TreeNode (TreeNode &&other) noexcept |
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| uint16_t | UID () const |
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| BT::NodeStatus | waitValidStatus () |
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| virtual | ~TreeNode () |
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| using | PostTickCallback = std::function< NodeStatus(TreeNode &, NodeStatus)> |
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| using | PreTickCallback = std::function< NodeStatus(TreeNode &)> |
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| typedef std::shared_ptr< TreeNode > | Ptr |
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| using | StatusChangeCallback = StatusChangeSignal::CallableFunction |
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| using | StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus > |
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| using | StatusChangeSubscriber = StatusChangeSignal::Subscriber |
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| using | TickMonitorCallback = std::function< void(TreeNode &, NodeStatus, std::chrono::microseconds)> |
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| using | PostScripts = std::array< ScriptFunction, size_t(PostCond::COUNT_)> |
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| using | PreScripts = std::array< ScriptFunction, size_t(PreCond::COUNT_)> |
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| NodeConfig & | config () |
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| void | modifyPortsRemapping (const PortsRemapping &new_remapping) |
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| template<typename T > |
| T | parseString (const std::string &str) const |
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| PostScripts & | postConditionsScripts () |
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| PreScripts & | preConditionsScripts () |
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| void | resetStatus () |
| | Set the status to IDLE. More...
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| void | setRegistrationID (StringView ID) |
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| 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...
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| void | setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance) |
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| std::vector< TreeNode * > | children_nodes_ |
| |
The ParallelNode execute all its children concurrently, but not in separate threads!
Even if this may look similar to ReactiveSequence, this Control Node is the only one that can have multiple children RUNNING at the same time.
The Node is completed either when the THRESHOLD_SUCCESS or THRESHOLD_FAILURE number is reached (both configured using ports).
If any of the thresholds is reached, and other children are still running, they will be halted.
Note that threshold indexes work as in Python: https://www.i2tutorials.com/what-are-negative-indexes-and-why-are-they-used/
Therefore -1 is equivalent to the number of children.
Definition at line 40 of file parallel_node.h.
Public Member Functions inherited from BT::ControlNode