The SimpleActionNode provides an easy to use SyncActionNode. The user should simply provide a callback with this signature. More...
#include <action_node.h>
Inheritance diagram for BT::SimpleActionNode:
Public Types | |
| using | TickFunctor = std::function< NodeStatus(TreeNode &)> |
 Public Types inherited from BT::TreeNode | |
| using | PostTickCallback = std::function< NodeStatus(TreeNode &, NodeStatus)> |
| using | PreTickCallback = std::function< NodeStatus(TreeNode &)> |
| typedef std::shared_ptr< TreeNode > | Ptr |
| using | StatusChangeCallback = StatusChangeSignal::CallableFunction |
| using | StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus > |
| using | StatusChangeSubscriber = StatusChangeSignal::Subscriber |
| using | TickMonitorCallback = std::function< void(TreeNode &, NodeStatus, std::chrono::microseconds)> |
Public Member Functions | |
| SimpleActionNode (const std::string &name, TickFunctor tick_functor, const NodeConfig &config) | |
| ~SimpleActionNode () override=default | |
| Public Member Functions inherited from BT::SyncActionNode | |
| virtual NodeStatus | executeTick () override |
| throws if the derived class return RUNNING. More... | |
| virtual void | halt () override final |
| You don't need to override this. More... | |
| SyncActionNode (const std::string &name, const NodeConfig &config) | |
| ~SyncActionNode () override=default | |
| Public Member Functions inherited from BT::ActionNodeBase | |
| ActionNodeBase (const std::string &name, const NodeConfig &config) | |
| virtual NodeType | type () const override final |
| ~ActionNodeBase () override=default | |
| Public Member Functions inherited from BT::LeafNode | |
| LeafNode (const std::string &name, const NodeConfig &config) | |
| virtual | ~LeafNode () override=default |
| Public Member Functions inherited from BT::TreeNode | |
| const NodeConfig & | config () const |
| void | emitWakeUpSignal () |
| Notify that the tree should be ticked again() More... | |
| const std::string & | fullPath () const |
| template<typename T > | |
| Expected< T > | getInput (const std::string &key) const |
| template<typename T > | |
| Result | getInput (const std::string &key, T &destination) const |
| template<typename T > | |
| Expected< StampedValue< T > > | getInputStamped (const std::string &key) const |
| template<typename T > | |
| Expected< Timestamp > | getInputStamped (const std::string &key, T &destination) const |
| getInputStamped is similar to getInput(dey, destination), but it returne also the Timestamp object, that can be used to check if a value was updated and when. More... | |
| AnyPtrLocked | getLockedPortContent (const std::string &key) |
| getLockedPortContent should be used when: More... | |
| StringView | getRawPortValue (const std::string &key) const |
| void | haltNode () |
| bool | isHalted () const |
| const std::string & | name () const |
| Name of the instance, not the type. More... | |
| TreeNode & | operator= (const TreeNode &other)=delete |
| TreeNode & | operator= (TreeNode &&other) noexcept |
| const std::string & | registrationName () const |
| registrationName is the ID used by BehaviorTreeFactory to create an instance. More... | |
| bool | requiresWakeUp () const |
| template<typename T > | |
| Result | setOutput (const std::string &key, const T &value) |
| setOutput modifies the content of an Output port More... | |
| void | setPostTickFunction (PostTickCallback callback) |
| void | setPreTickFunction (PreTickCallback callback) |
| void | setTickMonitorCallback (TickMonitorCallback callback) |
| 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 TreeNode &other)=delete | |
| TreeNode (std::string name, NodeConfig config) | |
| TreeNode main constructor. More... | |
| TreeNode (TreeNode &&other) noexcept | |
| uint16_t | UID () const |
| BT::NodeStatus | waitValidStatus () |
| virtual | ~TreeNode () |
Protected Member Functions | |
| virtual NodeStatus | tick () override final |
| Method to be implemented by the user. More... | |
| Protected Member Functions inherited from BT::TreeNode | |
| NodeConfig & | config () |
| void | modifyPortsRemapping (const PortsRemapping &new_remapping) |
| template<typename T > | |
| T | parseString (const std::string &str) const |
| PostScripts & | postConditionsScripts () |
| PreScripts & | preConditionsScripts () |
| void | resetStatus () |
| Set the status to IDLE. More... | |
| void | setRegistrationID (StringView ID) |
| void | setStatus (NodeStatus new_status) |
| setStatus changes the status of the node. it will throw if you try to change the status to IDLE, because your parent node should do that, not the user! More... | |
| void | setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance) |
Protected Attributes | |
| TickFunctor | tick_functor_ |
Additional Inherited Members | |
| Static Public Member Functions inherited from BT::TreeNode | |
| static Expected< StringView > | getRemappedKey (StringView port_name, StringView remapped_port) |
| template<class DerivedT , typename... ExtraArgs> | |
| static std::unique_ptr< TreeNode > | Instantiate (const std::string &name, const NodeConfig &config, ExtraArgs... args) |
| static bool | isBlackboardPointer (StringView str, StringView *stripped_pointer=nullptr) |
| Check a string and return true if it matches the pattern: {...}. More... | |
| static StringView | stripBlackboardPointer (StringView str) |
| Protected Types inherited from BT::TreeNode | |
| using | PostScripts = std::array< ScriptFunction, size_t(PostCond::COUNT_)> |
| using | PreScripts = std::array< ScriptFunction, size_t(PreCond::COUNT_)> |
Detailed Description
The SimpleActionNode provides an easy to use SyncActionNode. The user should simply provide a callback with this signature.
BT::NodeStatus functionName(TreeNode&)
This avoids the hassle of inheriting from a ActionNode.
Using lambdas or std::bind it is easy to pass a pointer to a method. SimpleActionNode is executed synchronously and does not support halting.
Definition at line 79 of file action_node.h.
Member Typedef Documentation
◆ TickFunctor
| using BT::SimpleActionNode::TickFunctor = std::function<NodeStatus(TreeNode&)> |
Definition at line 82 of file action_node.h.
Constructor & Destructor Documentation
◆ SimpleActionNode()
| SimpleActionNode::SimpleActionNode | ( | const std::string & | name, |
| SimpleActionNode::TickFunctor | tick_functor, | ||
| const NodeConfig & | config | ||
| ) |
Definition at line 26 of file action_node.cpp.
◆ ~SimpleActionNode()
|
overridedefault |
Member Function Documentation
◆ tick()
|
finaloverrideprotectedvirtual |
Method to be implemented by the user.
Implements BT::TreeNode.
Definition at line 32 of file action_node.cpp.
Member Data Documentation
◆ tick_functor_
|
protected |
Definition at line 93 of file action_node.h.
The documentation for this class was generated from the following files: