Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
BT Namespace Reference

Namespaces

 detail
 
 details
 
 optional_lite
 

Classes

class  ActionNodeBase
 
class  AlwaysFailure
 
class  AlwaysSuccess
 
class  AsyncActionNode
 The AsyncActionNode a different thread where the action will be executed. More...
 
class  AsyncActionTest
 
class  BehaviorTreeException
 
class  BehaviorTreeFactory
 
class  Blackboard
 
class  BlackboardImpl
 
class  BlackboardLocal
 
class  BlackboardPreconditionNode
 
class  ConditionNode
 
class  ConditionTestNode
 
class  ControlNode
 
class  CoroActionNode
 The CoroActionNode class is an ideal candidate for asynchronous actions which need to communicate with a service provider using an asynch request/reply interface (being a notable example ActionLib in ROS, MoveIt clients or move_base clients). More...
 
class  DecoratorNode
 
class  DecoratorSubtreeNode
 
class  FallbackNode
 The FallbackNode is used to try different strategies, until one succeed. If any child returns RUNNING, previous children will be ticked again. More...
 
class  FallbackStarNode
 The FallbackStarNode is used to try different strategies, until one succeed. If any child returns RUNNING, previous children will NOT be ticked again. More...
 
class  FileLogger
 
class  ForceFailureDecorator
 
class  ForceSuccessDecorator
 
struct  in_place_t
 
class  InverterNode
 
class  LeafNode
 
class  MinitraceLogger
 
class  ParallelNode
 
class  PublisherZMQ
 
class  RepeatNode
 
class  RetryNode
 
class  scoped_demangled_name
 
class  SequenceNode
 The SequenceNode is used to execute a sequence of children. If any child returns RUNNING, previous children will be ticked again. More...
 
class  SequenceStarNode
 The SequenceStarNode is used to execute a sequence of children. If any child returns RUNNING, previous children are not ticked again. More...
 
class  SetBlackboard
 
class  SharedLibrary
 
class  Signal
 
class  SimpleActionNode
 The SimpleActionNode provides an easy to use ActionNode. The user should simply provide a callback with this signature. More...
 
class  SimpleConditionNode
 The SimpleConditionNode provides an easy to use ConditionNode. The user should simply provide a callback with this signature. More...
 
class  SimpleDecoratorNode
 The SimpleDecoratorNode provides an easy to use DecoratorNode. The user should simply provide a callback with this signature. More...
 
class  StatusChangeLogger
 
class  StdCoutLogger
 AddStdCoutLoggerToTree. Give the root node of a tree, a simple callback is subscribed to any status change of each node. More...
 
class  SyncActionNode
 The SyncActionNode is an helper derived class that explicitly forbids the status RUNNING and doesn't require an implementation of halt() More...
 
class  SyncActionTest
 
class  TickEngine
 
class  TimeoutNode
 
class  TimerQueue
 
struct  Tree
 
class  TreeNode
 
struct  TreeNodeManifest
 This information is used mostly by the XMLParser. More...
 
class  XMLParser
 

Typedefs

typedef AsyncActionNode ActionNode
 
typedef std::chrono::high_resolution_clock::duration Duration
 
typedef std::function< std::unique_ptr< TreeNode >const std::string &, const NodeParameters &)> NodeBuilder
 The term "Builder" refers to the Builder Pattern (https://en.wikipedia.org/wiki/Builder_pattern) More...
 
typedef std::unordered_map< std::string, std::string > NodeParameters
 
typedef std::array< uint8_t, 12 > SerializedTransition
 
typedef std::vector< std::pair< uint16_t, uint8_t > > SerializedTreeStatus
 
typedef nonstd::string_view StringView
 
typedef std::chrono::high_resolution_clock::time_point TimePoint
 

Enumerations

enum  FailurePolicy { FAIL_ON_ONE, FAIL_ON_ALL }
 
enum  NodeStatus { NodeStatus::IDLE = 0, NodeStatus::RUNNING, NodeStatus::SUCCESS, NodeStatus::FAILURE }
 
enum  NodeType {
  NodeType::UNDEFINED = 0, NodeType::ACTION, NodeType::CONDITION, NodeType::CONTROL,
  NodeType::DECORATOR, NodeType::SUBTREE
}
 
enum  SuccessPolicy { SUCCEED_ON_ONE, SUCCEED_ON_ALL }
 
enum  TimestampType { TimestampType::ABSOLUTE, TimestampType::RELATIVE }
 

Functions

void applyRecursiveVisitor (const TreeNode *root_node, const std::function< void(const TreeNode *)> &visitor)
 
void applyRecursiveVisitor (TreeNode *root_node, const std::function< void(TreeNode *)> &visitor)
 
void assignBlackboardToEntireTree (TreeNode *root_node, const Blackboard::Ptr &bb)
 
void buildSerializedStatusSnapshot (const TreeNode *root_node, SerializedTreeStatus &serialized_buffer)
 buildSerializedStatusSnapshot can be used to create a serialize buffer that can be stored (or sent to a client application) to know the status of all the nodes of a tree. It is not "human readable". More...
 
void buildSerializedStatusSnapshot (TreeNode *root_node, SerializedTreeStatus &serialized_buffer)
 
Tree buildTreeFromFile (const BehaviorTreeFactory &factory, const std::string &filename, const Blackboard::Ptr &blackboard=Blackboard::Ptr())
 
Tree buildTreeFromText (const BehaviorTreeFactory &factory, const std::string &text, const Blackboard::Ptr &blackboard=Blackboard::Ptr())
 
template<>
Pose2D convertFromString (const StringView &key)
 
template<>
Point3D convertFromString (const StringView &key)
 
template<typename T >
convertFromString (const StringView &)
 
template<>
bool convertFromString< bool > (const StringView &str)
 
template<>
const char * convertFromString< const char * > (const StringView &str)
 
template<>
double convertFromString< double > (const StringView &str)
 
template<>
int convertFromString< int > (const StringView &str)
 
template<>
NodeStatus convertFromString< NodeStatus > (const StringView &str)
 
template<>
NodeType convertFromString< NodeType > (const StringView &str)
 
template<>
std::string convertFromString< std::string > (const StringView &str)
 
template<>
std::vector< double > convertFromString< std::vector< double > > (const StringView &str)
 
template<>
std::vector< int > convertFromString< std::vector< int > > (const StringView &str)
 
template<>
unsigned convertFromString< unsigned > (const StringView &str)
 
BT_Serialization::Type convertToFlatbuffers (NodeType type)
 
BT_Serialization::Status convertToFlatbuffers (NodeStatus type)
 
void CreateFlatbuffersBehaviorTree (flatbuffers::FlatBufferBuilder &builder, BT::TreeNode *root_node)
 
std::string demangle (char const *name)
 
char const * demangle_alloc (char const *name) noexcept
 
void demangle_free (char const *name) noexcept
 
template<typename T >
NodeType getType ()
 
static uint16_t getUID ()
 
void haltAllActions (TreeNode *root_node)
 
template<class T >
in_place_t in_place (detail::in_place_type_tag< T >=detail::in_place_type_tag< T >())
 
template<std::size_t I>
in_place_t in_place (detail::in_place_index_tag< I >=detail::in_place_index_tag< I >())
 
template<std::size_t I>
in_place_t in_place_index (detail::in_place_index_tag< I >=detail::in_place_index_tag< I >())
 
template<class T >
in_place_t in_place_type (detail::in_place_type_tag< T >=detail::in_place_type_tag< T >())
 
std::ostream & operator<< (std::ostream &os, const BT::NodeStatus &status)
 
std::ostream & operator<< (std::ostream &os, const BT::NodeType &type)
 
void printTreeRecursively (const TreeNode *root_node)
 
SerializedTransition SerializeTransition (uint16_t UID, Duration timestamp, NodeStatus prev_status, NodeStatus status)
 
std::vector< StringViewsplitString (const StringView &strToSplit, char delimeter)
 
const char * toStr (const BT::NodeStatus &status, bool colored=false)
 toStr converts NodeStatus to string. Optionally colored. More...
 
const char * toStr (const BT::NodeType &type)
 toStr converts NodeType to string. More...
 
std::string writeXML (const BehaviorTreeFactory &factory, const TreeNode *root_node, bool compact_representation=false)
 

Variables

const char PLUGIN_SYMBOL [] = "BT_RegisterNodesFromPlugin"
 

Typedef Documentation

Definition at line 148 of file action_node.h.

typedef std::chrono::high_resolution_clock::duration BT::Duration

Definition at line 36 of file tree_node.h.

typedef std::function<std::unique_ptr<TreeNode>const std::string&, const NodeParameters&)> BT::NodeBuilder

The term "Builder" refers to the Builder Pattern (https://en.wikipedia.org/wiki/Builder_pattern)

Definition at line 30 of file bt_factory.h.

typedef std::unordered_map<std::string, std::string> BT::NodeParameters

Definition at line 33 of file tree_node.h.

typedef std::array<uint8_t, 12> BT::SerializedTransition

Definition at line 14 of file abstract_logger.h.

typedef std::vector<std::pair<uint16_t, uint8_t> > BT::SerializedTreeStatus

Definition at line 57 of file behavior_tree.h.

typedef nonstd::string_view BT::StringView

Definition at line 58 of file basic_types.h.

typedef std::chrono::high_resolution_clock::time_point BT::TimePoint

Definition at line 35 of file tree_node.h.

Enumeration Type Documentation

Enumerator
FAIL_ON_ONE 
FAIL_ON_ALL 

Definition at line 41 of file basic_types.h.

enum BT::NodeStatus
strong
Enumerator
IDLE 
RUNNING 
SUCCESS 
FAILURE 

Definition at line 28 of file basic_types.h.

enum BT::NodeType
strong
Enumerator
UNDEFINED 
ACTION 
CONDITION 
CONTROL 
DECORATOR 
SUBTREE 

Definition at line 16 of file basic_types.h.

Enumerator
SUCCEED_ON_ONE 
SUCCEED_ON_ALL 

Definition at line 52 of file basic_types.h.

enum BT::TimestampType
strong
Enumerator
ABSOLUTE 
RELATIVE 

Definition at line 8 of file abstract_logger.h.

Function Documentation

void BT::applyRecursiveVisitor ( const TreeNode root_node,
const std::function< void(const TreeNode *)> &  visitor 
)

Definition at line 18 of file behavior_tree.cpp.

void BT::applyRecursiveVisitor ( TreeNode root_node,
const std::function< void(TreeNode *)> &  visitor 
)

Definition at line 41 of file behavior_tree.cpp.

void BT::assignBlackboardToEntireTree ( TreeNode root_node,
const Blackboard::Ptr bb 
)

Definition at line 110 of file behavior_tree.cpp.

void BT::buildSerializedStatusSnapshot ( const TreeNode root_node,
SerializedTreeStatus serialized_buffer 
)

buildSerializedStatusSnapshot can be used to create a serialize buffer that can be stored (or sent to a client application) to know the status of all the nodes of a tree. It is not "human readable".

Parameters
root_node
serialized_bufferis the output.
void BT::buildSerializedStatusSnapshot ( TreeNode root_node,
SerializedTreeStatus serialized_buffer 
)

Definition at line 98 of file behavior_tree.cpp.

Tree BT::buildTreeFromFile ( const BehaviorTreeFactory factory,
const std::string &  filename,
const Blackboard::Ptr blackboard = Blackboard::Ptr() 
)

Helper function to do the most common steps all at once: 1) Create an instance of XMLParse and call loadFromFile. 2) Instantiate the entire tree. 3) Assign the given Blackboard

return: a pair containing the root node (first) and a vector with all the instantiated nodes (second).

Definition at line 513 of file xml_parsing.cpp.

Tree BT::buildTreeFromText ( const BehaviorTreeFactory factory,
const std::string &  text,
const Blackboard::Ptr blackboard = Blackboard::Ptr() 
)

Helper function to do the most common steps all at once: 1) Create an instance of XMLParse and call loadFromText. 2) Instantiate the entire tree. 3) Assign the given Blackboard

return: a pair containing the root node (first) and a vector with all the instantiated nodes (second).

Definition at line 501 of file xml_parsing.cpp.

template<>
Pose2D BT::convertFromString ( const StringView key)

Definition at line 26 of file movebase_node.h.

template<>
Point3D BT::convertFromString ( const StringView key)

Definition at line 45 of file t06_wrap_legacy.cpp.

template<typename T >
T BT::convertFromString ( const StringView )
inline

TreeNode::getParam requires convertFromString to be implemented for your specific type, unless you are try to read it from a blackboard.

Definition at line 64 of file basic_types.h.

template<>
bool BT::convertFromString< bool > ( const StringView str)

Definition at line 126 of file basic_types.cpp.

template<>
const char * BT::convertFromString< const char * > ( const StringView str)

Definition at line 74 of file basic_types.cpp.

template<>
double BT::convertFromString< double > ( const StringView str)

Definition at line 92 of file basic_types.cpp.

template<>
int BT::convertFromString< int > ( const StringView str)

Definition at line 80 of file basic_types.cpp.

template<>
NodeStatus BT::convertFromString< NodeStatus > ( const StringView str)

Definition at line 171 of file basic_types.cpp.

template<>
NodeType BT::convertFromString< NodeType > ( const StringView str)

Definition at line 185 of file basic_types.cpp.

template<>
std::string BT::convertFromString< std::string > ( const StringView str)

Definition at line 68 of file basic_types.cpp.

template<>
std::vector< double > BT::convertFromString< std::vector< double > > ( const StringView str)

Definition at line 112 of file basic_types.cpp.

template<>
std::vector< int > BT::convertFromString< std::vector< int > > ( const StringView str)

Definition at line 98 of file basic_types.cpp.

template<>
unsigned BT::convertFromString< unsigned > ( const StringView str)

Definition at line 86 of file basic_types.cpp.

BT_Serialization::Type BT::convertToFlatbuffers ( NodeType  type)
inline

Definition at line 9 of file bt_flatbuffer_helper.h.

BT_Serialization::Status BT::convertToFlatbuffers ( NodeStatus  type)
inline

Definition at line 29 of file bt_flatbuffer_helper.h.

void BT::CreateFlatbuffersBehaviorTree ( flatbuffers::FlatBufferBuilder builder,
BT::TreeNode root_node 
)
inline

Definition at line 45 of file bt_flatbuffer_helper.h.

std::string BT::demangle ( char const *  name)
inline

Definition at line 92 of file demangle_util.h.

char const * BT::demangle_alloc ( char const *  name)
inlinenoexcept

Definition at line 83 of file demangle_util.h.

void BT::demangle_free ( char const *  name)
inlinenoexcept

Definition at line 88 of file demangle_util.h.

template<typename T >
NodeType BT::getType ( )
inline

Simple way to extract the type of a TreeNode at COMPILE TIME. Useful to avoid the cost of without dynamic_cast or the virtual method TreeNode::type().

Definition at line 73 of file behavior_tree.h.

static uint16_t BT::getUID ( )
static

Definition at line 19 of file tree_node.cpp.

void BT::haltAllActions ( TreeNode root_node)

Definition at line 116 of file behavior_tree.cpp.

template<class T >
in_place_t BT::in_place ( detail::in_place_type_tag< T >  = detail::in_place_type_tag<T>())
inline

Definition at line 302 of file optional.hpp.

template<std::size_t I>
in_place_t BT::in_place ( detail::in_place_index_tag< I >  = detail::in_place_index_tag<I>())
inline

Definition at line 308 of file optional.hpp.

template<std::size_t I>
in_place_t BT::in_place_index ( detail::in_place_index_tag< I >  = detail::in_place_index_tag<I>())
inline

Definition at line 320 of file optional.hpp.

template<class T >
in_place_t BT::in_place_type ( detail::in_place_type_tag< T >  = detail::in_place_type_tag<T>())
inline

Definition at line 314 of file optional.hpp.

std::ostream & BT::operator<< ( std::ostream &  os,
const BT::NodeStatus status 
)

Definition at line 204 of file basic_types.cpp.

std::ostream & BT::operator<< ( std::ostream &  os,
const BT::NodeType type 
)

Definition at line 198 of file basic_types.cpp.

void BT::printTreeRecursively ( const TreeNode root_node)

Debug function to print on a stream

Definition at line 63 of file behavior_tree.cpp.

SerializedTransition BT::SerializeTransition ( uint16_t  UID,
Duration  timestamp,
NodeStatus  prev_status,
NodeStatus  status 
)
inline

Serialize manually the informations about state transition No flatbuffer serialization here

Definition at line 92 of file bt_flatbuffer_helper.h.

std::vector< StringView > BT::splitString ( const StringView strToSplit,
char  delimeter 
)

Definition at line 210 of file basic_types.cpp.

const char * BT::toStr ( const BT::NodeStatus status,
bool  colored = false 
)

toStr converts NodeStatus to string. Optionally colored.

Definition at line 7 of file basic_types.cpp.

const char * BT::toStr ( const BT::NodeType type)

toStr converts NodeType to string.

Definition at line 48 of file basic_types.cpp.

std::string BT::writeXML ( const BehaviorTreeFactory factory,
const TreeNode root_node,
bool  compact_representation = false 
)

Definition at line 524 of file xml_parsing.cpp.

Variable Documentation

const char BT::PLUGIN_SYMBOL[] = "BT_RegisterNodesFromPlugin"

Definition at line 40 of file bt_factory.h.



behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sun Feb 3 2019 03:14:33