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...

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

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...

Static Public Member Functions
template<typename T >
static TreeNodeManifest	buildManifest (const std::string &ID)

Private Types
template<typename T >
using	has_default_constructor = typename std::is_constructible< T, const std::string & >

template<typename T >
using	has_params_constructor = typename std::is_constructible< T, const std::string &, const NodeConfiguration & >

Private Member Functions
template<typename T >
void	registerNodeTypeImpl (const std::string &ID)

Static Private Member Functions
template<typename T >
static NodeBuilder	getBuilder (typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)

template<typename T >
static NodeBuilder	getBuilder (typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)

template<typename T >
static NodeBuilder	getBuilder (typename std::enable_if< has_default_constructor< T >::value &&!has_params_constructor< T >::value >::type *=nullptr)

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 98 of file bt_factory.h.

Member Typedef Documentation

template<typename T >

using BT::BehaviorTreeFactory::has_default_constructor = typename std::is_constructible<T, const std::string&>

private

Definition at line 240 of file bt_factory.h.

template<typename T >

using BT::BehaviorTreeFactory::has_params_constructor = typename std::is_constructible<T, const std::string&, const NodeConfiguration&>

private

Definition at line 243 of file bt_factory.h.

Constructor & Destructor Documentation

BT::BehaviorTreeFactory::BehaviorTreeFactory ( )

Definition at line 19 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 155 of file bt_factory.cpp.

template<typename T >

static TreeNodeManifest BT::BehaviorTreeFactory::buildManifest ( const std::string & ID )

inlinestatic

Definition at line 226 of file bt_factory.h.

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

List of builtin IDs.

Definition at line 165 of file bt_factory.cpp.

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

Definition at line 180 of file bt_factory.cpp.

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

Definition at line 170 of file bt_factory.cpp.

template<typename T >

static NodeBuilder BT::BehaviorTreeFactory::getBuilder ( typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr )

inlinestaticprivate

Definition at line 253 of file bt_factory.h.

template<typename T >

static NodeBuilder BT::BehaviorTreeFactory::getBuilder ( typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr )

inlinestaticprivate

Definition at line 272 of file bt_factory.h.

template<typename T >

static NodeBuilder BT::BehaviorTreeFactory::getBuilder ( typename std::enable_if< has_default_constructor< T >::value &&!has_params_constructor< T >::value >::type * = nullptr )

inlinestaticprivate

Definition at line 282 of file bt_factory.h.

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 134 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 160 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 68 of file bt_factory.cpp.

template<typename T >

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

inline

Definition at line 110 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 116 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 174 of file bt_factory.h.

template<typename T >

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

inlineprivate

Definition at line 246 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 92 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 80 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 104 of file bt_factory.cpp.

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

Remove a registered ID.

Definition at line 52 of file bt_factory.cpp.

Member Data Documentation

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

private

Definition at line 232 of file bt_factory.h.

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

private

Definition at line 234 of file bt_factory.h.

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

private

Definition at line 233 of file bt_factory.h.

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

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation