xml_parsing.h

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#ifndef XML_PARSING_BT_H
#define XML_PARSING_BT_H
 
#include "behaviortree_cpp_v3/bt_parser.h"
 
#include <unordered_map>
 
namespace BT
{
class XMLParser : public Parser
{
public:
  XMLParser(const BehaviorTreeFactory& factory);
 
  ~XMLParser() override;
 
  XMLParser(const XMLParser& other) = delete;
  XMLParser& operator=(const XMLParser& other) = delete;
 
  void loadFromFile(const std::string& filename, bool add_includes = true) override;
 
  void loadFromText(const std::string& xml_text, bool add_includes = true) override;
 
  std::vector<std::string> registeredBehaviorTrees() const override;
 
  Tree instantiateTree(const Blackboard::Ptr& root_blackboard,
                       std::string main_tree_to_execute = {}) override;
 
  void clearInternalState() override;
 
private:
  struct Pimpl;
  Pimpl* _p;
};
 
void VerifyXML(const std::string& xml_text,
               const std::unordered_map<std::string, NodeType>& registered_nodes);
 
std::string writeTreeNodesModelXML(const BehaviorTreeFactory& factory,
                                   bool include_builtin = false);
 
}   // namespace BT
 
#endif   // XML_PARSING_BT_H