The SimpleDecoratorNode provides an easy to use DecoratorNode. The user should simply provide a callback with this signature. More...
#include <decorator_node.h>
Inheritance diagram for BT::SimpleDecoratorNode:
Public Types | |
| typedef std::function< NodeStatus(NodeStatus, TreeNode &)> | TickFunctor |
 Public Types inherited from BT::TreeNode | |
| typedef std::shared_ptr< TreeNode > | Ptr |
| using | StatusChangeCallback = StatusChangeSignal::CallableFunction |
| using | StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus > |
| using | StatusChangeSubscriber = StatusChangeSignal::Subscriber |
Public Member Functions | |
| SimpleDecoratorNode (const std::string &name, TickFunctor tick_functor, const NodeParameters ¶ms=NodeParameters()) | |
| ~SimpleDecoratorNode () override=default | |
| Public Member Functions inherited from BT::DecoratorNode | |
| const TreeNode * | child () const |
| TreeNode * | child () |
| DecoratorNode (const std::string &name, const NodeParameters ¶meters) | |
| NodeStatus | executeTick () override |
| The method that will be executed to invoke tick(); and setStatus();. More... | |
| virtual void | halt () override |
| The method used to interrupt the execution of a RUNNING node. More... | |
| void | haltChild () |
| void | setChild (TreeNode *child) |
| virtual NodeType | type () const override |
| virtual | ~DecoratorNode () override=default |
| Public Member Functions inherited from BT::TreeNode | |
| const Blackboard::Ptr & | blackboard () const |
| template<typename T > | |
| BT::optional< T > | getParam (const std::string &key) const |
| template<typename T > | |
| bool | getParam (const std::string &key, T &destination) const |
| const NodeParameters & | initializationParameters () const |
| bool | isHalted () const |
| const std::string & | name () const |
| const std::string & | registrationName () const |
| registrationName is the ID used by BehaviorTreeFactory to create an instance. More... | |
| void | setBlackboard (const Blackboard::Ptr &bb) |
| void | setStatus (NodeStatus new_status) |
| 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 (const std::string &name, const NodeParameters ¶meters) | |
| TreeNode main constructor. More... | |
| uint16_t | UID () const |
| BT::NodeStatus | waitValidStatus () |
| virtual | ~TreeNode ()=default |
Protected Member Functions | |
| virtual NodeStatus | tick () override |
| Method to be implemented by the user. More... | |
| Protected Member Functions inherited from BT::TreeNode | |
| void | initializeOnce () |
| void | setRegistrationName (const std::string ®istration_name) |
| registrationName() is set by the BehaviorTreeFactory More... | |
Protected Attributes | |
| TickFunctor | tick_functor_ |
| Protected Attributes inherited from BT::DecoratorNode | |
| TreeNode * | child_node_ |
Additional Inherited Members | |
| Static Public Member Functions inherited from BT::TreeNode | |
| static bool | isBlackboardPattern (StringView str) |
Detailed Description
The SimpleDecoratorNode provides an easy to use DecoratorNode. The user should simply provide a callback with this signature.
BT::NodeStatus functionName(BT::NodeStatus child_status)
This avoids the hassle of inheriting from a DecoratorNode.
Using lambdas or std::bind it is easy to pass a pointer to a method. SimpleDecoratorNode does not support halting, NodeParameters, nor Blackboards.
Definition at line 49 of file decorator_node.h.
Member Typedef Documentation
| typedef std::function<NodeStatus(NodeStatus, TreeNode&)> BT::SimpleDecoratorNode::TickFunctor |
Definition at line 52 of file decorator_node.h.
Constructor & Destructor Documentation
| BT::SimpleDecoratorNode::SimpleDecoratorNode | ( | const std::string & | name, |
| TickFunctor | tick_functor, | ||
| const NodeParameters & | params = NodeParameters() |
||
| ) |
Definition at line 60 of file decorator_node.cpp.
|
overridedefault |
Member Function Documentation
|
overrideprotectedvirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Definition at line 66 of file decorator_node.cpp.
Member Data Documentation
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protected |
Definition at line 63 of file decorator_node.h.
The documentation for this class was generated from the following files: