t11_groot_howto.cpp File Reference

#include "behaviortree_cpp/loggers/bt_file_logger_v2.h"
#include "crossdoor_nodes.h"
#include "behaviortree_cpp/bt_factory.h"
#include "behaviortree_cpp/loggers/groot2_publisher.h"
#include "behaviortree_cpp/xml_parsing.h"
#include "behaviortree_cpp/json_export.h"
#include "behaviortree_cpp/loggers/bt_minitrace_logger.h"

Include dependency graph for t11_groot_howto.cpp:

Go to the source code of this file.

Classes
struct	Position2D
class	UpdatePosition

Functions
	BT_JSON_CONVERTER (Position2D, pos)
int	main ()

Variables
static const char *	xml_text

Function Documentation

BT_JSON_CONVERTER()

BT_JSON_CONVERTER	(	Position2D	,
		pos
	)

Definition at line 24 of file t11_groot_howto.cpp.

main()

int main

(

)

Definition at line 89 of file t11_groot_howto.cpp.

Variable Documentation

xml_text

const char* xml_text

static

Initial value:

= R"(
<root BTCPP_format="4">
 
  <BehaviorTree ID="MainTree">
    <Sequence>
      <Script code="door_open:=false" />
      <UpdatePosition pos="{pos_2D}" />
      <Fallback>
        <Inverter>
          <IsDoorClosed/>
        </Inverter>
        <SubTree ID="DoorClosed" _autoremap="true" door_open="{door_open}"/>
      </Fallback>
      <PassThroughDoor/>
    </Sequence>
  </BehaviorTree>
 
  <BehaviorTree ID="DoorClosed">
    <Fallback name="tryOpen" _onSuccess="door_open:=true">
      <OpenDoor/>
        <RetryUntilSuccessful num_attempts="5">
          <PickLock/>
        </RetryUntilSuccessful>
      <SmashDoor/>
    </Fallback>
  </BehaviorTree>
 
</root>
 )"

Definition at line 57 of file t11_groot_howto.cpp.