The SubtreePlus is a new kind of subtree that gives you much more control over remapping: More...
#include <subtree_node.h>
Public Member Functions | |
| SubtreePlusNode (const std::string &name) | |
| virtual | ~SubtreePlusNode () override=default |
 Public Member Functions inherited from BT::DecoratorNode | |
| const TreeNode * | child () const |
| TreeNode * | child () |
| DecoratorNode (const std::string &name, const NodeConfiguration &config) | |
| NodeStatus | executeTick () override |
| The method that should be used to invoke tick() and setStatus();. More... | |
| virtual void | halt () override |
| The method used to interrupt the execution of this node. More... | |
| void | haltChild () |
| Halt() the child node. More... | |
| void | setChild (TreeNode *child) |
| virtual | ~DecoratorNode () override=default |
| Public Member Functions inherited from BT::TreeNode | |
| const NodeConfiguration & | config () const |
| template<typename T > | |
| Result | getInput (const std::string &key, T &destination) const |
| template<typename T > | |
| Optional< T > | getInput (const std::string &key) const |
| StringView | getRawPortValue (const std::string &key) const |
| bool | isHalted () const |
| const std::string & | name () const |
| Name of the instance, not the type. More... | |
| const std::string & | registrationName () const |
| registrationName is the ID used by BehaviorTreeFactory to create an instance. More... | |
| template<typename T > | |
| Result | setOutput (const std::string &key, const T &value) |
| 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 (std::string name, NodeConfiguration config) | |
| TreeNode main constructor. More... | |
| uint16_t | UID () const |
| BT::NodeStatus | waitValidStatus () |
| virtual | ~TreeNode ()=default |
Private Member Functions | |
| virtual BT::NodeStatus | tick () override |
| Method to be implemented by the user. More... | |
| virtual NodeType | type () const overridefinal |
Static Private Member Functions | |
| static PortsList | providedPorts () |
Additional Inherited Members | |
| 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 |
| Static Public Member Functions inherited from BT::TreeNode | |
| static Optional< StringView > | getRemappedKey (StringView port_name, StringView remapping_value) |
| static bool | isBlackboardPointer (StringView str) |
| static StringView | stripBlackboardPointer (StringView str) |
| Protected Member Functions inherited from BT::TreeNode | |
| void | modifyPortsRemapping (const PortsRemapping &new_remapping) |
| void | setRegistrationID (StringView ID) |
| void | setStatus (NodeStatus new_status) |
| Protected Attributes inherited from BT::DecoratorNode | |
| TreeNode * | child_node_ |
Detailed Description
The SubtreePlus is a new kind of subtree that gives you much more control over remapping:
Consider this example:
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence>
<SetBlackboard value="Hello" output_key="myParam" />
<SubTreePlus ID="Talk" param="{myParam}" />
<SubTreePlus ID="Talk" param="World" />
<SetBlackboard value="Auto remapped" output_key="param" />
<SubTreePlus ID="Talk" __autoremap="1" />
</Sequence>
</BehaviorTree>
<BehaviorTree ID="Talk">
<SaySomething message="{param}" />
</BehaviorTree>
</root>
You may notice three different approaches to remapping:
1) Subtree: "{param}" -> Parent: "{myParam}" -> Value: "Hello" Classical remapping from one port to another, but you need to use the syntax {myParam} to say that you are remapping the another port.
2) Subtree: "{param}" -> Value: "World" syntax without {}, in this case param directly point to the string "World".
3) Subtree: "{param}" -> Parent: "{parent}" Setting to true (or 1) the attribute "__autoremap", we are automatically remapping each port. Usefull to avoid some boilerplate.
Definition at line 80 of file subtree_node.h.
Constructor & Destructor Documentation
| BT::SubtreePlusNode::SubtreePlusNode | ( | const std::string & | name | ) |
Definition at line 22 of file subtree_node.cpp.
|
overridevirtualdefault |
Member Function Documentation
|
inlinestaticprivate |
Definition at line 90 of file subtree_node.h.
|
overrideprivatevirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Definition at line 28 of file subtree_node.cpp.
|
inlinefinaloverrideprivatevirtual |
Reimplemented from BT::DecoratorNode.
Definition at line 96 of file subtree_node.h.
The documentation for this class was generated from the following files: