The RepeatNode is used to execute a child several times, as long as it succeed. More...

#include <repeat_node.h>

Inheritance diagram for BT::RepeatNode:

Public Member Functions
	RepeatNode (const std::string &name, const NodeConfig &config)

	RepeatNode (const std::string &name, int NTries)

virtual	~RepeatNode () override=default

Public Member Functions inherited from BT::DecoratorNode
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...

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 ()

Static Public Member Functions
static PortsList	providedPorts ()

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)

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

virtual NodeStatus	tick () override
	Method to be implemented by the user. More...

Private Attributes
int	num_cycles_

bool	read_parameter_from_ports_

int	repeat_count_

Static Private Attributes
static constexpr const char *	NUM_CYCLES = "num_cycles"

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)>

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::DecoratorNode
TreeNode *	child_node_

Detailed Description

The RepeatNode is used to execute a child several times, as long as it succeed.

To succeed, the child must return SUCCESS N times (port "num_cycles").

If the child returns FAILURE, the loop is stopped and this node returns FAILURE.

Example:

Definition at line 35 of file repeat_node.h.

Constructor & Destructor Documentation

◆ RepeatNode() [1/2]

BT::RepeatNode::RepeatNode	(	const std::string &	name,
		int	NTries
	)

Definition at line 19 of file repeat_node.cpp.

◆ RepeatNode() [2/2]

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

Definition at line 28 of file repeat_node.cpp.

◆ ~RepeatNode()

virtual BT::RepeatNode::~RepeatNode ( )

overridevirtualdefault

Member Function Documentation

◆ halt()

void BT::RepeatNode::halt ( )

overrideprivatevirtual

The method used to interrupt the execution of this node.

Reimplemented from BT::DecoratorNode.

Definition at line 98 of file repeat_node.cpp.

◆ providedPorts()

static PortsList BT::RepeatNode::providedPorts ( )

inlinestatic

Definition at line 44 of file repeat_node.h.

◆ tick()

NodeStatus BT::RepeatNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 35 of file repeat_node.cpp.

Member Data Documentation

◆ NUM_CYCLES

constexpr const char* BT::RepeatNode::NUM_CYCLES = "num_cycles"

staticconstexprprivate

Definition at line 55 of file repeat_node.h.

◆ num_cycles_

int BT::RepeatNode::num_cycles_

private

Definition at line 51 of file repeat_node.h.

◆ read_parameter_from_ports_

bool BT::RepeatNode::read_parameter_from_ports_

private

Definition at line 54 of file repeat_node.h.

◆ repeat_count_

int BT::RepeatNode::repeat_count_

private

Definition at line 52 of file repeat_node.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RepeatNode() [1/2]

◆ RepeatNode() [2/2]

◆ ~RepeatNode()

Member Function Documentation

◆ halt()

◆ providedPorts()

◆ tick()

Member Data Documentation

◆ NUM_CYCLES

◆ num_cycles_

◆ read_parameter_from_ports_

◆ repeat_count_