BT::Tree Class Reference

Struct used to store a tree. If this object goes out of scope, the tree is destroyed. More...

#include <bt_factory.h>

Classes
struct	Subtree

Public Member Functions
void	applyVisitor (const std::function< void(const TreeNode *)> &visitor)
void	applyVisitor (const std::function< void(TreeNode *)> &visitor)
template<typename NodeType = BT::TreeNode>
std::vector< const TreeNode * >	getNodesByPath (StringView wildcard_filter) const
uint16_t	getUID ()
void	haltTree ()
void	initialize ()
Tree &	operator= (const Tree &)=delete
Tree &	operator= (Tree &&other)
Blackboard::Ptr	rootBlackboard ()
TreeNode *	rootNode () const
bool	sleep (std::chrono::system_clock::duration timeout)
	Sleep for a certain amount of time. This sleep could be interrupted by the method TreeNode::emitWakeUpSignal() More...
NodeStatus	tickExactlyOnce ()
NodeStatus	tickOnce ()
	by default, tickOnce() sends a single tick, BUT as long as there is at least one node of the tree invoking TreeNode::emitWakeUpSignal(), it will be ticked again. More...
NodeStatus	tickWhileRunning (std::chrono::milliseconds sleep_time=std::chrono::milliseconds(10))
	Tree ()
	Tree (const Tree &)=delete
	Tree (Tree &&other)
	~Tree ()

Public Attributes
std::unordered_map< std::string, TreeNodeManifest >	manifests
std::vector< Subtree::Ptr >	subtrees

Private Types
enum	TickOption { EXACTLY_ONCE, ONCE_UNLESS_WOKEN_UP, WHILE_RUNNING }

Private Member Functions
NodeStatus	tickRoot (TickOption opt, std::chrono::milliseconds sleep_time)

Private Attributes
uint16_t	uid_counter_ = 0
std::shared_ptr< WakeUpSignal >	wake_up_

Detailed Description

Struct used to store a tree. If this object goes out of scope, the tree is destroyed.

Definition at line 91 of file bt_factory.h.

Member Enumeration Documentation

TickOption

enum BT::Tree::TickOption

private

Enumerator
EXACTLY_ONCE
ONCE_UNLESS_WOKEN_UP
WHILE_RUNNING

Definition at line 188 of file bt_factory.h.

Constructor & Destructor Documentation

Tree() [1/3]

BT::Tree::Tree

(

)

Definition at line 542 of file bt_factory.cpp.

Tree() [2/3]

BT::Tree::Tree ( const Tree &  )

delete

Tree() [3/3]

BT::Tree::Tree

(

Tree &&

other

)

Definition at line 545 of file bt_factory.cpp.

~Tree()

BT::Tree::~Tree

(

)

Definition at line 595 of file bt_factory.cpp.

Member Function Documentation

applyVisitor() [1/2]

void BT::Tree::applyVisitor

(

const std::function< void(const TreeNode *)> &

visitor

)

Definition at line 624 of file bt_factory.cpp.

applyVisitor() [2/2]

void BT::Tree::applyVisitor

(

const std::function< void(TreeNode *)> &

visitor

)

Definition at line 629 of file bt_factory.cpp.

getNodesByPath()

template<typename NodeType = BT::TreeNode>

std::vector<const TreeNode*> BT::Tree::getNodesByPath ( StringView  wildcard_filter ) const

inline

Get a list of nodes which fullPath() match a wildcard filter and a given path. Example:

move_nodes = tree.getNodesByPath<MoveBaseNode>("move_*");

Definition at line 166 of file bt_factory.h.

getUID()

uint16_t BT::Tree::getUID

(

)

Definition at line 634 of file bt_factory.cpp.

haltTree()

void BT::Tree::haltTree

(

)

Definition at line 562 of file bt_factory.cpp.

initialize()

void BT::Tree::initialize

(

)

Definition at line 550 of file bt_factory.cpp.

operator=() [1/2]

Tree& BT::Tree::operator= ( const Tree &  )

delete

operator=() [2/2]

Tree & BT::Tree::operator=

(

Tree &&

other

)

Definition at line 534 of file bt_factory.cpp.

rootBlackboard()

Blackboard::Ptr BT::Tree::rootBlackboard

(

)

Definition at line 615 of file bt_factory.cpp.

rootNode()

TreeNode * BT::Tree::rootNode

(

)

const

Definition at line 579 of file bt_factory.cpp.

sleep()

bool BT::Tree::sleep

(

std::chrono::system_clock::duration

timeout

)

Sleep for a certain amount of time. This sleep could be interrupted by the method TreeNode::emitWakeUpSignal()

Parameters

timeout

duration of the sleep

Returns

true if the timeout was NOT reached and the signal was received.

Definition at line 589 of file bt_factory.cpp.

tickExactlyOnce()

NodeStatus BT::Tree::tickExactlyOnce

(

)

Tick the root of the tree once, even if a node invoked emitWakeUpSignal()

Definition at line 600 of file bt_factory.cpp.

tickOnce()

NodeStatus BT::Tree::tickOnce

(

)

by default, tickOnce() sends a single tick, BUT as long as there is at least one node of the tree invoking TreeNode::emitWakeUpSignal(), it will be ticked again.

Definition at line 605 of file bt_factory.cpp.

tickRoot()

NodeStatus BT::Tree::tickRoot ( TickOption  opt, std::chrono::milliseconds  sleep_time  )

private

Definition at line 640 of file bt_factory.cpp.

tickWhileRunning()

NodeStatus BT::Tree::tickWhileRunning

(

std::chrono::milliseconds

sleep_time = std::chrono::milliseconds(10)

)

Call tickOnce until the status is different from RUNNING. Note that between one tick and the following one, a Tree::sleep() is used

Definition at line 610 of file bt_factory.cpp.

Member Data Documentation

manifests

std::unordered_map<std::string, TreeNodeManifest> BT::Tree::manifests

Definition at line 105 of file bt_factory.h.

subtrees

std::vector<Subtree::Ptr> BT::Tree::subtrees

Definition at line 104 of file bt_factory.h.

uid_counter_

uint16_t BT::Tree::uid_counter_ = 0

private

Definition at line 197 of file bt_factory.h.

wake_up_

std::shared_ptr<WakeUpSignal> BT::Tree::wake_up_

private

Definition at line 186 of file bt_factory.h.

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

• bt_factory.h
• bt_factory.cpp