The BehaviorTreeFactory is used to create instances of a TreeNode at run-time. More...

#include <bt_factory.h>

Public Member Functions
	BehaviorTreeFactory ()

const std::unordered_map< std::string, NodeBuilder > &	builders () const
	All the builders. Made available mostly for debug purposes. More...

const std::set< std::string > &	builtinNodes () const
	List of builtin IDs. More...

Tree	createTreeFromFile (const std::string &file_path, Blackboard::Ptr blackboard=Blackboard::create())

Tree	createTreeFromText (const std::string &text, Blackboard::Ptr blackboard=Blackboard::create())

std::unique_ptr< TreeNode >	instantiateTreeNode (const std::string &name, const std::string &ID, const NodeConfiguration &config) const
	instantiateTreeNode creates an instance of a previously registered TreeNode. More...

const std::unordered_map< std::string, TreeNodeManifest > &	manifests () const
	Manifests of all the registered TreeNodes. More...

void	registerBuilder (const TreeNodeManifest &manifest, const NodeBuilder &builder)
	The most generic way to register your own builder. More...

template<typename T >
void	registerBuilder (const std::string &ID, const NodeBuilder &builder)

void	registerFromPlugin (const std::string &file_path)
	registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro). More...

void	registerFromROSPlugins ()
	registerFromROSPlugins finds all shared libraries that export ROS plugins for behaviortree_cpp, and calls registerFromPlugin for each library. More...

template<typename T >
void	registerNodeType (const std::string &ID)

template<typename T >
void	registerNodeType (const std::string &ID, PortsList ports)

void	registerSimpleAction (const std::string &ID, const SimpleActionNode::TickFunctor &tick_functor, PortsList ports={})
	registerSimpleAction help you register nodes of type SimpleActionNode. More...

void	registerSimpleCondition (const std::string &ID, const SimpleConditionNode::TickFunctor &tick_functor, PortsList ports={})
	registerSimpleCondition help you register nodes of type SimpleConditionNode. More...

void	registerSimpleDecorator (const std::string &ID, const SimpleDecoratorNode::TickFunctor &tick_functor, PortsList ports={})
	registerSimpleDecorator help you register nodes of type SimpleDecoratorNode. More...

bool	unregisterBuilder (const std::string &ID)
	Remove a registered ID. More...

Private Attributes
std::unordered_map< std::string, NodeBuilder >	builders_

std::set< std::string >	builtin_IDs_

std::unordered_map< std::string, TreeNodeManifest >	manifests_

Detailed Description

The BehaviorTreeFactory is used to create instances of a TreeNode at run-time.

Some node types are "builtin", whilst other are used defined and need to be registered using a unique ID.

Definition at line 207 of file bt_factory.h.

Constructor & Destructor Documentation

BT::BehaviorTreeFactory::BehaviorTreeFactory ( )

Definition at line 24 of file bt_factory.cpp.

Member Function Documentation

const std::unordered_map< std::string, NodeBuilder > & BT::BehaviorTreeFactory::builders ( ) const

All the builders. Made available mostly for debug purposes.

Definition at line 234 of file bt_factory.cpp.

const std::set< std::string > & BT::BehaviorTreeFactory::builtinNodes ( ) const

List of builtin IDs.

Definition at line 244 of file bt_factory.cpp.

Tree BT::BehaviorTreeFactory::createTreeFromFile	(	const std::string &	file_path,
		Blackboard::Ptr	blackboard = `Blackboard::create()`
	)

Definition at line 259 of file bt_factory.cpp.

Tree BT::BehaviorTreeFactory::createTreeFromText	(	const std::string &	text,
		Blackboard::Ptr	blackboard = `Blackboard::create()`
	)

Definition at line 249 of file bt_factory.cpp.

std::unique_ptr< TreeNode > BT::BehaviorTreeFactory::instantiateTreeNode	(	const std::string &	name,
		const std::string &	ID,
		const NodeConfiguration &	config
	)		const

instantiateTreeNode creates an instance of a previously registered TreeNode.

Parameters

name	name of this particular instance
ID	ID used when it was registered
config	configuration that is passed to the constructor of the TreeNode.

Returns: new node.

Definition at line 213 of file bt_factory.cpp.

const std::unordered_map< std::string, TreeNodeManifest > & BT::BehaviorTreeFactory::manifests ( ) const

Manifests of all the registered TreeNodes.

Definition at line 239 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerBuilder	(	const TreeNodeManifest &	manifest,
		const NodeBuilder &	builder
	)

The most generic way to register your own builder.

Definition at line 87 of file bt_factory.cpp.

template<typename T >

void BT::BehaviorTreeFactory::registerBuilder	(	const std::string &	ID,
		const NodeBuilder &	builder
	)

inline

Definition at line 219 of file bt_factory.h.

void BT::BehaviorTreeFactory::registerFromPlugin ( const std::string & file_path )

registerFromPlugin load a shared library and execute the function BT_REGISTER_NODES (see macro).

Parameters

file_path path of the file

Definition at line 135 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerFromROSPlugins ( )

registerFromROSPlugins finds all shared libraries that export ROS plugins for behaviortree_cpp, and calls registerFromPlugin for each library.

Exceptions

If	not compiled with ROS support or if the library cannot load for any reason

Definition at line 206 of file bt_factory.cpp.

template<typename T >

void BT::BehaviorTreeFactory::registerNodeType ( const std::string & ID )

inline

registerNodeType is the method to use to register your custom TreeNode.

It accepts only classed derived from either ActionNodeBase, DecoratorNode, ControlNode or ConditionNode.

Definition at line 290 of file bt_factory.h.

template<typename T >

void BT::BehaviorTreeFactory::registerNodeType	(	const std::string &	ID,
		PortsList	ports
	)

inline

Definition at line 327 of file bt_factory.h.

void BT::BehaviorTreeFactory::registerSimpleAction	(	const std::string &	ID,
		const SimpleActionNode::TickFunctor &	tick_functor,
		PortsList	ports = `{}`
	)

registerSimpleAction help you register nodes of type SimpleActionNode.

Parameters

ID	registration ID
tick_functor	the callback to be invoked in the tick() method.
ports	if your SimpleNode requires ports, provide the list here.

Definition at line 111 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerSimpleCondition	(	const std::string &	ID,
		const SimpleConditionNode::TickFunctor &	tick_functor,
		PortsList	ports = `{}`
	)

registerSimpleCondition help you register nodes of type SimpleConditionNode.

Parameters

ID	registration ID
tick_functor	the callback to be invoked in the tick() method.
ports	if your SimpleNode requires ports, provide the list here.

Definition at line 99 of file bt_factory.cpp.

void BT::BehaviorTreeFactory::registerSimpleDecorator	(	const std::string &	ID,
		const SimpleDecoratorNode::TickFunctor &	tick_functor,
		PortsList	ports = `{}`
	)

registerSimpleDecorator help you register nodes of type SimpleDecoratorNode.

Parameters

ID	registration ID
tick_functor	the callback to be invoked in the tick() method.
ports	if your SimpleNode requires ports, provide the list here.

Definition at line 123 of file bt_factory.cpp.

bool BT::BehaviorTreeFactory::unregisterBuilder ( const std::string & ID )

Remove a registered ID.

Definition at line 71 of file bt_factory.cpp.

Member Data Documentation

std::unordered_map<std::string, NodeBuilder> BT::BehaviorTreeFactory::builders_

private

Definition at line 378 of file bt_factory.h.

std::set<std::string> BT::BehaviorTreeFactory::builtin_IDs_

private

Definition at line 380 of file bt_factory.h.

std::unordered_map<std::string, TreeNodeManifest> BT::BehaviorTreeFactory::manifests_

private

Definition at line 379 of file bt_factory.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation