The SimpleConditionNode provides an easy to use ConditionNode. The user should simply provide a callback with this signature. More...

#include <condition_node.h>

Inheritance diagram for BT::SimpleConditionNode:

[legend]

Public Types
using	TickFunctor = std::function< NodeStatus(TreeNode &)>

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)>

Public Member Functions
	SimpleConditionNode (const std::string &name, TickFunctor tick_functor, const NodeConfig &config)

	~SimpleConditionNode () override=default

Public Member Functions inherited from BT::ConditionNode
	ConditionNode (const std::string &name, const NodeConfig &config)

virtual void	halt () override final

virtual NodeType	type () const override final

virtual	~ConditionNode () override=default

Public Member Functions inherited from BT::LeafNode
	LeafNode (const std::string &name, const NodeConfig &config)

virtual	~LeafNode () 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 ()

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

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
TickFunctor	tick_functor_

Additional Inherited Members
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_)>

Detailed Description

The SimpleConditionNode provides an easy to use ConditionNode. The user should simply provide a callback with this signature.

BT::NodeStatus functionName(void)

This avoids the hassle of inheriting from a ActionNode.

Using lambdas or std::bind it is easy to pass a pointer to a method.

Definition at line 50 of file condition_node.h.

Member Typedef Documentation

◆ TickFunctor

using BT::SimpleConditionNode::TickFunctor = std::function<NodeStatus(TreeNode&)>

Definition at line 53 of file condition_node.h.

Constructor & Destructor Documentation

◆ SimpleConditionNode()

BT::SimpleConditionNode::SimpleConditionNode	(	const std::string &	name,
		TickFunctor	tick_functor,
		const NodeConfig &	config
	)

Definition at line 22 of file condition_node.cpp.

◆ ~SimpleConditionNode()

BT::SimpleConditionNode::~SimpleConditionNode ( )

overridedefault

Member Function Documentation

◆ tick()

NodeStatus BT::SimpleConditionNode::tick ( )

overrideprotectedvirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 28 of file condition_node.cpp.

Member Data Documentation

◆ tick_functor_

TickFunctor BT::SimpleConditionNode::tick_functor_

protected

Definition at line 64 of file condition_node.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members