00001 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved 00002 * Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00005 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00006 * and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: 00007 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00008 * 00009 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00010 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 00011 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00012 */ 00013 00014 #ifndef BEHAVIOR_TREE_H 00015 #define BEHAVIOR_TREE_H 00016 00017 #include "behaviortree_cpp/controls/parallel_node.h" 00018 #include "behaviortree_cpp/controls/reactive_sequence.h" 00019 #include "behaviortree_cpp/controls/reactive_fallback.h" 00020 #include "behaviortree_cpp/controls/fallback_node.h" 00021 #include "behaviortree_cpp/controls/sequence_node.h" 00022 #include "behaviortree_cpp/controls/sequence_star_node.h" 00023 00024 #include "behaviortree_cpp/action_node.h" 00025 #include "behaviortree_cpp/condition_node.h" 00026 00027 #include "behaviortree_cpp/decorators/inverter_node.h" 00028 #include "behaviortree_cpp/decorators/retry_node.h" 00029 #include "behaviortree_cpp/decorators/repeat_node.h" 00030 #include "behaviortree_cpp/decorators/subtree_node.h" 00031 00032 #include "behaviortree_cpp/actions/always_success_node.h" 00033 #include "behaviortree_cpp/actions/always_failure_node.h" 00034 #include "behaviortree_cpp/actions/set_blackboard_node.h" 00035 00036 #include "behaviortree_cpp/decorators/force_success_node.h" 00037 #include "behaviortree_cpp/decorators/force_failure_node.h" 00038 #include "behaviortree_cpp/decorators/blackboard_precondition.h" 00039 #include "behaviortree_cpp/decorators/timeout_node.h" 00040 00041 namespace BT 00042 { 00043 00044 //Call the visitor for each node of the tree, given a root. 00045 void applyRecursiveVisitor(const TreeNode* root_node, 00046 const std::function<void(const TreeNode*)>& visitor); 00047 00048 //Call the visitor for each node of the tree, given a root. 00049 void applyRecursiveVisitor(TreeNode* root_node, const std::function<void(TreeNode*)>& visitor); 00050 00054 void printTreeRecursively(const TreeNode* root_node); 00055 00058 void haltAllActions(TreeNode* root_node); 00059 00060 00061 typedef std::vector<std::pair<uint16_t, uint8_t>> SerializedTreeStatus; 00062 00071 void buildSerializedStatusSnapshot(const TreeNode* root_node, 00072 SerializedTreeStatus& serialized_buffer); 00073 00076 template <typename T> 00077 inline NodeType getType() 00078 { 00079 // clang-format off 00080 if( std::is_base_of<ActionNodeBase, T>::value ) return NodeType::ACTION; 00081 if( std::is_base_of<ConditionNode, T>::value ) return NodeType::CONDITION; 00082 if( std::is_base_of<DecoratorSubtreeNode, T>::value ) return NodeType::SUBTREE; 00083 if( std::is_base_of<DecoratorNode, T>::value ) return NodeType::DECORATOR; 00084 if( std::is_base_of<ControlNode, T>::value ) return NodeType::CONTROL; 00085 return NodeType::UNDEFINED; 00086 // clang-format on 00087 } 00088 } 00089 00090 #endif // BEHAVIOR_TREE_H