The ReactiveFallback is similar to a ParallelNode. All the children are ticked from first to last: More...
#include <reactive_fallback.h>
Public Member Functions | |
| ReactiveFallback (const std::string &name) | |
 Public Member Functions inherited from BT::ControlNode | |
| void | addChild (TreeNode *child) |
| The method used to add nodes to the children vector. More... | |
| const TreeNode * | child (size_t index) const |
| const std::vector< TreeNode * > & | children () const |
| size_t | childrenCount () const |
| ControlNode (const std::string &name, const NodeConfiguration &config) | |
| void | haltChild (size_t i) |
| void | haltChildren () |
| same as resetChildren() More... | |
| void | haltChildren (size_t first) |
| void | resetChildren () |
| virtual NodeType | type () const override final |
| virtual | ~ControlNode () override=default |
| Public Member Functions inherited from BT::TreeNode | |
| const NodeConfiguration & | config () const |
| void | emitStateChanged () |
| virtual BT::NodeStatus | executeTick () |
| The method that should be used to invoke tick() and setStatus();. More... | |
| template<typename T > | |
| Optional< T > | getInput (const std::string &key) const |
| template<typename T > | |
| Result | getInput (const std::string &key, T &destination) const |
| StringView | getRawPortValue (const std::string &key) const |
| bool | isHalted () const |
| const std::string & | name () const |
| Name of the instance, not the type. More... | |
| const std::string & | registrationName () const |
| registrationName is the ID used by BehaviorTreeFactory to create an instance. More... | |
| template<typename T > | |
| Result | setOutput (const std::string &key, const T &value) |
| void | setPostTickOverrideFunction (PostTickOverrideCallback callback) |
| void | setPreTickOverrideFunction (PreTickOverrideCallback 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 (std::string name, NodeConfiguration config) | |
| TreeNode main constructor. More... | |
| uint16_t | UID () const |
| BT::NodeStatus | waitValidStatus () |
| virtual | ~TreeNode ()=default |
Static Public Member Functions | |
| static void | EnableException (bool enable) |
| Static Public Member Functions inherited from BT::TreeNode | |
| static Optional< StringView > | getRemappedKey (StringView port_name, StringView remapping_value) |
| static bool | isBlackboardPointer (StringView str) |
| static StringView | stripBlackboardPointer (StringView str) |
Private Member Functions | |
| void | halt () override |
| BT::NodeStatus | tick () override |
| Method to be implemented by the user. More... | |
Private Attributes | |
| int | running_child_ = -1 |
Static Private Attributes | |
| static bool | throw_if_multiple_running = false |
Additional Inherited Members | |
| Public Types inherited from BT::TreeNode | |
| using | PostTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus, NodeStatus)> |
| using | PreTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus)> |
| typedef std::shared_ptr< TreeNode > | Ptr |
| using | StatusChangeCallback = StatusChangeSignal::CallableFunction |
| using | StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus > |
| using | StatusChangeSubscriber = StatusChangeSignal::Subscriber |
| Protected Member Functions inherited from BT::TreeNode | |
| void | modifyPortsRemapping (const PortsRemapping &new_remapping) |
| void | resetStatus () |
| Equivalent to setStatus(NodeStatus::IDLE) More... | |
| void | setRegistrationID (StringView ID) |
| void | setStatus (NodeStatus new_status) |
| void | setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance) |
| Protected Attributes inherited from BT::ControlNode | |
| std::vector< TreeNode * > | children_nodes_ |
Detailed Description
The ReactiveFallback is similar to a ParallelNode. All the children are ticked from first to last:
- If a child returns RUNNING, continue to the next sibling.
- If a child returns FAILURE, continue to the next sibling.
- If a child returns SUCCESS, stop and return SUCCESS.
If all the children fail, than this node returns FAILURE.
IMPORTANT: to work properly, this node should not have more than a single asynchronous child.
Definition at line 33 of file reactive_fallback.h.
Constructor & Destructor Documentation
◆ ReactiveFallback()
|
inline |
Definition at line 36 of file reactive_fallback.h.
Member Function Documentation
◆ EnableException()
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static |
A ReactiveFallback is not supposed to have more than a single anychronous node; if it does an exception is thrown. You can disabled that check, if you know what you are doing.
Definition at line 20 of file reactive_fallback.cpp.
◆ halt()
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overrideprivatevirtual |
The method used to interrupt the execution of a RUNNING node. Only Async nodes that may return RUNNING should implement it.
Reimplemented from BT::ControlNode.
Definition at line 88 of file reactive_fallback.cpp.
◆ tick()
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overrideprivatevirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Definition at line 25 of file reactive_fallback.cpp.
Member Data Documentation
◆ running_child_
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private |
Definition at line 50 of file reactive_fallback.h.
◆ throw_if_multiple_running
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staticprivate |
Definition at line 51 of file reactive_fallback.h.
The documentation for this class was generated from the following files: