#include <movebase_node.h>

Inheritance diagram for MoveBaseAction:

[legend]

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

void	onHalted () override

BT::NodeStatus	onRunning () override
	method invoked when the action is already in the RUNNING state. More...

BT::NodeStatus	onStart () override

Public Member Functions inherited from BT::StatefulActionNode
bool	isHaltRequested () const

	StatefulActionNode (const std::string &name, const NodeConfig &config)

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

virtual NodeType	type () const override final

	~ActionNodeBase () 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 ()

Static Public Member Functions
static BT::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 Attributes
chr::system_clock::time_point	_completion_time

Pose2D	_goal

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::StatefulActionNode
void	halt () override final

NodeStatus	tick () override final
	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)

Detailed Description

Definition at line 54 of file movebase_node.h.

Constructor & Destructor Documentation

◆ MoveBaseAction()

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

inline

Definition at line 58 of file movebase_node.h.

Member Function Documentation

◆ onHalted()

void MoveBaseAction::onHalted ( )

overridevirtual

when the method halt() is called and the action is RUNNING, this method is invoked. This is a convenient place todo a cleanup, if needed.

Implements BT::StatefulActionNode.

Definition at line 43 of file movebase_node.cpp.

◆ onRunning()

BT::NodeStatus MoveBaseAction::onRunning ( )

overridevirtual

method invoked when the action is already in the RUNNING state.

Implements BT::StatefulActionNode.

Definition at line 27 of file movebase_node.cpp.

◆ onStart()

BT::NodeStatus MoveBaseAction::onStart ( )

overridevirtual

Method called once, when transitioning from the state IDLE. If it returns RUNNING, this becomes an asynchronous node.

Implements BT::StatefulActionNode.

Definition at line 11 of file movebase_node.cpp.

◆ providedPorts()

static BT::PortsList MoveBaseAction::providedPorts ( )

inlinestatic

Definition at line 63 of file movebase_node.h.

Member Data Documentation

◆ _completion_time

chr::system_clock::time_point MoveBaseAction::_completion_time

private

Definition at line 80 of file movebase_node.h.

◆ _goal

Pose2D MoveBaseAction::_goal

private

Definition at line 79 of file movebase_node.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MoveBaseAction()

Member Function Documentation

◆ onHalted()

◆ onRunning()

◆ onStart()

◆ providedPorts()

Member Data Documentation

◆ _completion_time

◆ _goal