Namespaces
	Ast

	details
	The SwitchNode is equivalent to a switch statement, where a certain branch (child) is executed according to the value of a blackboard entry.

	Grammar

	Monitor

	strings_internal

	test

Classes
class	ActionNodeBase
	The ActionNodeBase is the base class to use to create any kind of action. A particular derived class is free to override executeTick() as needed. More...

class	AlwaysFailureNode

class	AlwaysSuccessNode

class	Any

struct	AnyTypeAllowed

class	AsyncActionTest

class	BehaviorTreeException

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

class	Blackboard
	The Blackboard is the mechanism used by BehaviorTrees to exchange typed data. More...

class	ConditionNode

class	ConditionTestNode

class	ConsumeQueue

class	ControlNode

class	CoroActionNode
	The CoroActionNode class is an a good candidate for asynchronous actions which need to communicate with an external service using an async request/reply interface. More...

class	DecoratorNode

class	DelayNode
	The delay node will introduce a delay and then tick the child returning the status of the child as it is upon completion The delay is in milliseconds and it is passed using the port "delay_msec". More...

class	EntryUpdatedAction
	The EntryUpdatedAction checks the Timestamp in an entry to determine if the value was updated since the last time. More...

class	EntryUpdatedDecorator
	The EntryUpdatedDecorator checks the Timestamp in an entry to determine if the value was updated since the last time (true, the first time). More...

class	FallbackNode
	The FallbackNode is used to try different strategies, until one succeeds. If any child returns RUNNING, previous children will NOT be ticked again. More...

class	FileLogger2
	The FileLogger2 is a logger that saves the tree as XML and all the transitions. Data is written to file in a separate thread, to minimize latency. More...

class	ForceFailureNode
	The ForceFailureNode returns always FAILURE or RUNNING. More...

class	ForceSuccessNode
	The ForceSuccessNode returns always SUCCESS or RUNNING. More...

class	Groot2Publisher
	The Groot2Publisher is used to create an interface between your BT.CPP executor and Groot2. More...

struct	has_static_method_metadata

struct	has_static_method_metadata< T, typename std::enable_if< std::is_same< decltype(T::metadata()), KeyValueVector >::value >::type >

struct	has_static_method_providedPorts

struct	has_static_method_providedPorts< T, typename std::enable_if< std::is_same< decltype(T::providedPorts()), PortsList >::value >::type >

class	IfThenElseNode
	IfThenElseNode must have exactly 2 or 3 children. This node is NOT reactive. More...

class	InverterNode
	The InverterNode returns SUCCESS if child fails of FAILURE is child succeeds. RUNNING status is propagated. More...

class	JsonExporter

class	KeepRunningUntilFailureNode
	The KeepRunningUntilFailureNode returns always FAILURE or RUNNING. More...

class	LeafNode

class	LockedPtr
	The LockedPtr class is used to share a pointer to an object and a mutex that protects the read/write access to that object. More...

class	LogicError

class	LoopNode
	The LoopNode class is used to pop_front elements from a std::deque. This element is copied into the port "value" and the child will be executed, as long as we have elements in the queue. More...

class	ManualSelectorNode
	Use a Terminal User Interface (ncurses) to select a certain child manually. More...

class	MinitraceLogger

struct	NodeConfig

class	ParallelAllNode
	The ParallelAllNode execute all its children concurrently, but not in separate threads! More...

class	ParallelNode
	The ParallelNode execute all its children concurrently, but not in separate threads! More...

class	Parser
	The BehaviorTreeParser is a class used to read the model of a BehaviorTree from file or text and instantiate the corresponding tree using the BehaviorTreeFactory. More...

class	PopFromQueue

class	PortInfo

class	PreconditionNode

struct	ProtectedQueue

class	QueueSize

class	ReactiveFallback
	The ReactiveFallback is similar to a ParallelNode. All the children are ticked from first to last: More...

class	ReactiveSequence
	The ReactiveSequence is similar to a ParallelNode. All the children are ticked from first to last: More...

class	RepeatNode
	The RepeatNode is used to execute a child several times, as long as it succeed. More...

class	RetryNode
	The RetryNode is used to execute a child several times if it fails. More...

class	RetryNodeTypo

class	RunOnceNode
	The RunOnceNode is used when you want to execute the child only once. If the child is asynchronous, we will tick until either SUCCESS or FAILURE is returned. More...

class	RuntimeError

class	scoped_demangled_name

class	ScriptCondition
	Execute a script, and if the result is true, return SUCCESS, FAILURE otherwise. More...

class	ScriptNode

class	SequenceNode
	The SequenceNode is used to tick children in an ordered sequence. If any child returns RUNNING, previous children will NOT be ticked again. More...

class	SequenceWithMemory
	The SequenceWithMemory is used to tick children in an ordered sequence. If any child returns RUNNING, previous children are not ticked again. More...

class	SetBlackboardNode
	The SetBlackboard is action used to store a string into an entry of the Blackboard specified in "output_key". More...

class	SharedLibrary

class	Signal

class	SimpleActionNode
	The SimpleActionNode provides an easy to use SyncActionNode. The user should simply provide a callback with this signature. More...

class	SimpleConditionNode
	The SimpleConditionNode provides an easy to use ConditionNode. The user should simply provide a callback with this signature. More...

class	SimpleDecoratorNode
	The SimpleDecoratorNode provides an easy to use DecoratorNode. The user should simply provide a callback with this signature. More...

class	SleepNode
	Sleep for a certain amount of time. Consider also using the decorator <Delay> More...

class	SqliteLogger
	The SqliteLogger is a logger that will store the tree and all the status transitions in a SQLite database (single file). More...

struct	StampedValue

class	StatefulActionNode
	The StatefulActionNode is the preferred way to implement asynchronous Actions. It is actually easier to use correctly, when compared with ThreadedAction. More...

class	StatusChangeLogger

class	StdCoutLogger
	StdCoutLogger is a very simple logger that displays all the transitions on the console. More...

struct	SubtreeModel

class	SubTreeNode
	The SubTreeNode is a way to wrap an entire Subtree, creating a separated BlackBoard. If you want to have data flow through ports, you need to explicitly remap the ports. More...

class	SwitchNode

class	SyncActionNode
	The SyncActionNode is an ActionNode that explicitly prevents the status RUNNING and doesn't require an implementation of halt(). More...

class	SyncActionTest

class	TestNode
	The TestNode is a Node that can be configure to: More...

struct	TestNodeConfig

class	ThreadedAction
	The ThreadedAction executes the tick in a different thread. More...

class	TimeoutNode
	The TimeoutNode will halt() a running child if the latter has been RUNNING longer than a given time. The timeout is in milliseconds and it is passed using the port "msec". More...

class	TimerQueue

struct	Timestamp

struct	Transition

class	Tree
	Struct used to store a tree. If this object goes out of scope, the tree is destroyed. More...

class	TreeNode
	Abstract base class for Behavior Tree Nodes. More...

struct	TreeNodeManifest
	This information is used mostly by the XMLParser. More...

class	TreeObserver
	The TreeObserver is used to collect statistics about which nodes are executed and their returned status. More...

class	TypeInfo

class	UnsetBlackboardNode

class	WakeUpSignal

class	WhileDoElseNode
	WhileDoElse must have exactly 2 or 3 children. It is a REACTIVE node of IfThenElseNode. More...

class	XMLParser
	The XMLParser is a class used to read the model of a BehaviorTree from file or text and instantiate the corresponding tree using the BehaviorTreeFactory. More...

Typedefs
using	AnyPtrLocked = LockedPtr< Any >

using	Duration = std::chrono::high_resolution_clock::duration

template<typename Predicate >
using	enable_if = typename std::enable_if< Predicate::value >::type *

template<typename Predicate >
using	enable_if_not = typename std::enable_if<!Predicate::value >::type *

using	EnumsTable = std::unordered_map< std::string, int >

using	EnumsTablePtr = std::shared_ptr< EnumsTable >

using	ErrorReport = lexy_ext::_report_error< char * >

template<typename T >
using	Expected = nonstd::expected< T, std::string >

using	KeyValueVector = std::vector< std::pair< std::string, std::string > >

using	NodeBuilder = std::function< std::unique_ptr< TreeNode >(const std::string &, const NodeConfig &)>
	The term "Builder" refers to the Builder Pattern (https://en.wikipedia.org/wiki/Builder_pattern) More...

using	NodeConfiguration = NodeConfig

using	NonPortAttributes = std::unordered_map< std::string, std::string >

using	PortsList = std::unordered_map< std::string, PortInfo >

using	PortsRemapping = std::unordered_map< std::string, std::string >

using	Result = Expected< std::monostate >

using	ScriptFunction = std::function< Any(Ast::Environment &env)>

using	ScriptingEnumsRegistry = std::unordered_map< std::string, int >

using	SerializedTransition = std::array< uint8_t, 12 >

using	SerializedTreeStatus = std::vector< std::pair< uint16_t, uint8_t > >

template<typename T >
using	SharedQueue = std::shared_ptr< std::deque< T > >

using	StringConverter = std::function< Any(StringView)>

using	StringConvertersMap = std::unordered_map< const std::type_info *, StringConverter >

using	StringView = std::string_view

using	TimePoint = std::chrono::high_resolution_clock::time_point

Enumerations
enum	{ IDLE_FROM_SUCCESS = 10 + static_cast<int>(NodeStatus::SUCCESS), IDLE_FROM_FAILURE = 10 + static_cast<int>(NodeStatus::FAILURE), IDLE_FROM_RUNNING = 10 + static_cast<int>(NodeStatus::RUNNING) }

enum	NodeStatus { NodeStatus::IDLE = 0, NodeStatus::RUNNING = 1, NodeStatus::SUCCESS = 2, NodeStatus::FAILURE = 3, NodeStatus::SKIPPED = 4 }

enum	NodeType { NodeType::UNDEFINED = 0, NodeType::ACTION, NodeType::CONDITION, NodeType::CONTROL, NodeType::DECORATOR, NodeType::SUBTREE }
	Enumerates the possible types of nodes. More...

enum	PortDirection { PortDirection::INPUT, PortDirection::OUTPUT, PortDirection::INOUT }

enum	PostCond { PostCond::ON_HALTED = 0, PostCond::ON_FAILURE, PostCond::ON_SUCCESS, PostCond::ALWAYS, PostCond::COUNT_ }

enum	PreCond { PreCond::FAILURE_IF = 0, PreCond::SUCCESS_IF, PreCond::SKIP_IF, PreCond::WHILE_TRUE, PreCond::COUNT_ }

enum	TimestampType { TimestampType::absolute, TimestampType::relative }

Functions
void	addNodeModelToXML (const TreeNodeManifest &model, XMLDocument &doc, XMLElement *model_root)

void	addTreeToXML (const Tree &tree, XMLDocument &doc, XMLElement *rootXML, bool add_metadata, bool add_builtin_models)

void	applyRecursiveVisitor (const TreeNode root_node, const std::function< void(const TreeNode )> &visitor)

void	applyRecursiveVisitor (TreeNode root_node, const std::function< void(TreeNode )> &visitor)

template<typename T >
void	assignDefaultRemapping (NodeConfig &config)

template<typename T = AnyTypeAllowed, typename DefaultT = T>
std::pair< std::string, PortInfo >	BidirectionalPort (StringView name, const DefaultT &default_value, StringView description)

template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	BidirectionalPort (StringView name, StringView description={})

std::vector< Blackboard::Ptr >	BlackboardBackup (const BT::Tree &tree)
	BlackboardBackup uses Blackboard::cloneInto to backup all the blackboards of the tree. More...

void	BlackboardClone (const Blackboard &src, Blackboard &dst)
	BlackboardClone make a copy of the content of the blackboard. More...

void	BlackboardRestore (const std::vector< Blackboard::Ptr > &backup, BT::Tree &tree)
	BlackboardRestore uses Blackboard::cloneInto to restore all the blackboards of the tree. More...

void	buildSerializedStatusSnapshot (const TreeNode *root_node, SerializedTreeStatus &serialized_buffer)
	buildSerializedStatusSnapshot can be used to create a buffer that can be stored (or sent to a client application) to know the status of all the nodes of a tree. It is not "human readable". More...

void	buildSerializedStatusSnapshot (TreeNode *root_node, SerializedTreeStatus &serialized_buffer)

Tree	buildTreeFromFile (const BehaviorTreeFactory &factory, const std::string &filename, const Blackboard::Ptr &blackboard)

Tree	buildTreeFromText (const BehaviorTreeFactory &factory, const std::string &text, const Blackboard::Ptr &blackboard)

Any	convertFromJSON (StringView json_text, std::type_index type)
	convertFromJSON will parse a json string and use JsonExporter to convert its content to a given type. It will work only if the type was previously registered. May throw if it fails. More...

template<typename T >
T	convertFromJSON (StringView str)
	Same as the non template version, but with automatic casting. More...

template<>
Point3D	convertFromString (StringView key)

template<>
bool	convertFromString< bool > (StringView str)

template<>
const char *	convertFromString< const char * > (StringView str)

template<>
double	convertFromString< double > (StringView str)

template<>
float	convertFromString< float > (StringView str)

template<>
int16_t	convertFromString< int16_t > (StringView str)

template<>
int32_t	convertFromString< int32_t > (StringView str)

template<>
int64_t	convertFromString< int64_t > (StringView str)

template<>
int8_t	convertFromString< int8_t > (StringView str)

template<>
NodeStatus	convertFromString< NodeStatus > (StringView str)

template<>
NodeType	convertFromString< NodeType > (StringView str)

template<>
PortDirection	convertFromString< PortDirection > (StringView str)

template<>
SharedQueue< bool >	convertFromString< SharedQueue< bool > > (StringView str)

template<>
SharedQueue< double >	convertFromString< SharedQueue< double > > (StringView str)

template<>
SharedQueue< int >	convertFromString< SharedQueue< int > > (StringView str)

template<>
SharedQueue< std::string >	convertFromString< SharedQueue< std::string > > (StringView str)

template<>
std::string	convertFromString< std::string > (StringView str)

template<>
std::vector< double >	convertFromString< std::vector< double > > (StringView str)

template<>
std::vector< int >	convertFromString< std::vector< int > > (StringView str)

template<>
std::vector< std::string >	convertFromString< std::vector< std::string > > (StringView str)

template<>
uint16_t	convertFromString< uint16_t > (StringView str)

template<>
uint32_t	convertFromString< uint32_t > (StringView str)

template<>
uint64_t	convertFromString< uint64_t > (StringView str)

template<>
uint8_t	convertFromString< uint8_t > (StringView str)

Serialization::NodeStatus	convertToFlatbuffers (BT::NodeStatus type)

Serialization::NodeType	convertToFlatbuffers (BT::NodeType type)

Serialization::PortDirection	convertToFlatbuffers (BT::PortDirection direction)

template<typename T >
T	ConvertWithBoundCheck (StringView str)

template<typename T , typename... Args>
NodeBuilder	CreateBuilder (Args... args)

void	CreateFlatbuffersBehaviorTree (flatbuffers::FlatBufferBuilder &builder, const BT::Tree &tree)

template<typename T >
TreeNodeManifest	CreateManifest (const std::string &ID, PortsList portlist=getProvidedPorts< T >())

template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	CreatePort (PortDirection direction, StringView name, StringView description={})

std::array< char, 16 >	CreateRandomUUID ()

std::string	demangle (char const *name)

std::string	demangle (const std::type_index &index)

std::string	demangle (const std::type_info &info)

char const *	demangle_alloc (char const *name) noexcept

void	demangle_free (char const *name) noexcept

nlohmann::json	ExportBlackboardToJSON (const Blackboard &blackboard)
	ExportBlackboardToJSON will create a JSON that contains the current values of the blackboard. Complex types must be registered with JsonExporter::get() More...

nlohmann::json	ExportTreeToJSON (const BT::Tree &tree)
	ExportTreeToJSON it calls ExportBlackboardToJSON for all the blackboards in the tree. More...

template<typename T >
StringConverter	GetAnyFromStringFunctor ()

template<>
StringConverter	GetAnyFromStringFunctor< void > ()

template<typename T >
PortsList	getProvidedPorts (enable_if< has_static_method_providedPorts< T >>=nullptr)

template<typename T >
PortsList	getProvidedPorts (enable_if_not< has_static_method_providedPorts< T >>=nullptr)

template<typename T >
NodeType	getType ()

template<typename T , typename... ExtraArgs>
constexpr bool	hasNodeFullCtor ()

template<typename T >
constexpr bool	hasNodeNameCtor ()

void	ImportBlackboardFromJSON (const nlohmann::json &json, Blackboard &blackboard)
	ImportBlackboardFromJSON will append elements to the blackboard, using the values parsed from the JSON file created using ExportBlackboardToJSON. Complex types must be registered with JsonExporter::get() More...

void	ImportTreeFromJSON (const nlohmann::json &json, BT::Tree &tree)
	ImportTreeFromJSON it calls ImportBlackboardFromJSON for all the blackboards in the tree. More...

template<typename T = AnyTypeAllowed, typename DefaultT = T>
std::pair< std::string, PortInfo >	InputPort (StringView name, const DefaultT &default_value, StringView description)

template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	InputPort (StringView name, StringView description={})

bool	IsAllowedPortName (StringView str)

template<typename T >
bool	isCastingSafe (const std::type_index &type, const T &val)

template<typename T >
constexpr bool	IsConvertibleToString ()

bool	IsPrivateKey (StringView str)

bool	IsReservedAttribute (StringView str)

bool	isStatusActive (const NodeStatus &status)

bool	isStatusCompleted (const NodeStatus &status)

int	LibraryVersionNumber ()

const char *	LibraryVersionString ()

std::ostream &	operator<< (std::ostream &os, const BT::NodeStatus &status)

std::ostream &	operator<< (std::ostream &os, const BT::NodeType &type)

std::ostream &	operator<< (std::ostream &os, const BT::PortDirection &type)

template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	OutputPort (StringView name, StringView default_value, StringView description)

template<typename T = AnyTypeAllowed>
std::pair< std::string, PortInfo >	OutputPort (StringView name, StringView description={})

Expected< ScriptFunction >	ParseScript (const std::string &script)

Expected< Any >	ParseScriptAndExecute (Ast::Environment &env, const std::string &script)

void	printTreeRecursively (const TreeNode *root_node, std::ostream &stream=std::cout)

template<typename T >
void	RegisterJsonDefinition ()

SerializedTransition	SerializeTransition (uint16_t UID, Duration timestamp, NodeStatus prev_status, NodeStatus status)

std::vector< StringView >	splitString (const StringView &strToSplit, char delimeter)

bool	StartWith (StringView str, char prefix)

bool	StartWith (StringView str, StringView prefix)

void	StrAppend (std::string *destination, const std::string_view &a)

void	StrAppend (std::string *destination, const std::string_view &a, const std::string_view &b)

void	StrAppend (std::string *destination, const std::string_view &a, const std::string_view &b, const std::string_view &c)

template<typename... AV>
void	StrAppend (std::string *destination, const std::string_view &a, const std::string_view &b, const std::string_view &c, const std::string_view &d, const AV &... args)

std::string	StrCat ()

std::string	StrCat (const std::string_view &a)

std::string	StrCat (const std::string_view &a, const std::string_view &b)

std::string	StrCat (const std::string_view &a, const std::string_view &b, const std::string_view &c)

template<typename... AV>
std::string	StrCat (const std::string_view &a, const std::string_view &b, const std::string_view &c, const std::string_view &d, const AV &... args)

const char *	toConstStr (NodeType type)

Expected< std::string >	toJsonString (const Any &value)

std::string	toStr (BT::NodeStatus status, bool colored)
	toStr converts NodeStatus to string. Optionally colored. More...

template<typename T >
std::string	toStr (const T &value)
	toStr is the reverse operation of convertFromString. More...

template<>
std::string	toStr< bool > (const bool &value)

template<>
std::string	toStr< BT::NodeStatus > (const BT::NodeStatus &status)

template<>
std::string	toStr< BT::NodeType > (const BT::NodeType &type)

template<>
std::string	toStr< BT::PortDirection > (const BT::PortDirection &direction)

template<>
std::string	toStr< BT::PostCond > (const BT::PostCond &cond)

template<>
std::string	toStr< BT::PreCond > (const BT::PreCond &cond)

template<>
std::string	toStr< NodeStatus > (const NodeStatus &status)

template<>
std::string	toStr< NodeType > (const NodeType &type)

template<>
std::string	toStr< PortDirection > (const PortDirection &direction)

template<>
std::string	toStr< PostCond > (const PostCond &cond)

template<>
std::string	toStr< PreCond > (const PreCond &cond)

template<>
std::string	toStr< std::string > (const std::string &value)

int64_t	ToUsec (Duration ts)

Result	ValidateScript (const std::string &script)
	ValidateScript will check if a certain string is valid. More...

template<typename SRC , typename TO >
bool	ValidCast (const SRC &val)

void	VerifyXML (const std::string &xml_text, const std::unordered_map< std::string, BT::NodeType > &registered_nodes)

void	VerifyXML (const std::string &xml_text, const std::unordered_map< std::string, NodeType > &registered_nodes)

bool	WildcardMatch (const std::string &str, StringView filter)

std::string	writeTreeNodesModelXML (const BehaviorTreeFactory &factory, bool include_builtin=false)
	writeTreeNodesModelXML generates an XMl that contains the manifests in the <TreeNodesModel> More...

std::string	WriteTreeToXML (const Tree &tree, bool add_metadata, bool add_builtin_models)
	WriteTreeToXML create a string that contains the XML that corresponds to a given tree. When using this function with a logger, you should probably set both add_metadata and add_builtin_models to true. More...

std::string	writeTreeXSD (const BehaviorTreeFactory &factory)
	writeTreeXSD generates an XSD for the nodes defined in the factory More...

Variables
constexpr const char *	PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin"

static const std::array< std::string, 4 >	PostCondNames

static const std::array< std::string, 4 >	PreCondNames

auto	StrEqual

static std::type_index	UndefinedAnyType = typeid(nullptr)

Detailed Description

Template Action used in ex04_waypoints.cpp example.

Its purpose is to do make it easy to create while loops wich consume the elements of a queue.

Note that modifying the queue is not thread safe, therefore the action that creates the queue or push elements into it, must be Synchronous.

When ticked, we pop_front from the "queue" and insert that value in "popped_item". Return FAILURE if the queue is empty, SUCCESS otherwise.

Typedef Documentation

◆ AnyPtrLocked

using BT::AnyPtrLocked = typedef LockedPtr<Any>

This type contains a pointer to Any, protected with a locked mutex as long as the object is in scope

Definition at line 19 of file blackboard.h.

◆ Duration

using BT::Duration = typedef std::chrono::high_resolution_clock::duration

Definition at line 630 of file basic_types.h.

◆ enable_if

template<typename Predicate >

using BT::enable_if = typedef typename std::enable_if<Predicate::value>::type*

Definition at line 305 of file basic_types.h.

◆ enable_if_not

template<typename Predicate >

using BT::enable_if_not = typedef typename std::enable_if<!Predicate::value>::type*

Definition at line 308 of file basic_types.h.

◆ EnumsTable

using BT::EnumsTable = typedef std::unordered_map<std::string, int>

Simple map (string->nt), used to convert enums in the scripting language

Definition at line 22 of file script_parser.hpp.

◆ EnumsTablePtr

using BT::EnumsTablePtr = typedef std::shared_ptr<EnumsTable>

Definition at line 23 of file script_parser.hpp.

◆ ErrorReport

using BT::ErrorReport = typedef lexy_ext::_report_error<char*>

Definition at line 12 of file script_parser.cpp.

◆ Expected

template<typename T >

using BT::Expected = typedef nonstd::expected<T, std::string>

Usage: given a function/method like this:

Expected<double> getAnswer();

User code can check result and error message like this:

auto res = getAnswer();
if( res )
{
    std::cout << "answer was: " << res.value() << std::endl;
}
else{
    std::cerr << "failed to get the answer: " << res.error() << std::endl;
}

Definition at line 85 of file basic_types.h.

◆ KeyValueVector

using BT::KeyValueVector = typedef std::vector<std::pair<std::string, std::string> >

Definition at line 66 of file basic_types.h.

◆ NodeBuilder

using BT::NodeBuilder = typedef std::function<std::unique_ptr<TreeNode>(const std::string&, const NodeConfig&)>

The term "Builder" refers to the Builder Pattern (https://en.wikipedia.org/wiki/Builder_pattern)

Definition at line 31 of file bt_factory.h.

◆ NodeConfiguration

using BT::NodeConfiguration = typedef NodeConfig

Definition at line 115 of file tree_node.h.

◆ NonPortAttributes

using BT::NonPortAttributes = typedef std::unordered_map<std::string, std::string>

Definition at line 44 of file tree_node.h.

◆ PortsList

using BT::PortsList = typedef std::unordered_map<std::string, PortInfo>

Definition at line 587 of file basic_types.h.

◆ PortsRemapping

using BT::PortsRemapping = typedef std::unordered_map<std::string, std::string>

Definition at line 43 of file tree_node.h.

◆ Result

using BT::Result = typedef Expected<std::monostate>

Usage: given a function/method like:

Result DoSomething();

User code can check result and error message like this:

auto res = DoSomething();
if( res )
{
    std::cout << "DoSomething() done " << std::endl;
}
else{
    std::cerr << "DoSomething() failed with message: " << res.error() << std::endl;
}

Definition at line 333 of file basic_types.h.

◆ ScriptFunction

using BT::ScriptFunction = typedef std::function<Any(Ast::Environment& env)>

Definition at line 43 of file script_parser.hpp.

◆ ScriptingEnumsRegistry

using BT::ScriptingEnumsRegistry = typedef std::unordered_map<std::string, int>

Definition at line 80 of file tree_node.h.

◆ SerializedTransition

using BT::SerializedTransition = typedef std::array<uint8_t, 12>

Definition at line 9 of file bt_flatbuffer_helper.h.

◆ SerializedTreeStatus

using BT::SerializedTreeStatus = typedef std::vector<std::pair<uint16_t, uint8_t> >

Definition at line 72 of file behavior_tree.h.

◆ SharedQueue

template<typename T >

using BT::SharedQueue = typedef std::shared_ptr<std::deque<T> >

Definition at line 24 of file loop_node.h.

◆ StringConverter

using BT::StringConverter = typedef std::function<Any(StringView)>

Definition at line 206 of file basic_types.h.

◆ StringConvertersMap

using BT::StringConvertersMap = typedef std::unordered_map<const std::type_info*, StringConverter>

Definition at line 208 of file basic_types.h.

◆ StringView

using BT::StringView = typedef std::string_view

Definition at line 59 of file basic_types.h.

◆ TimePoint

using BT::TimePoint = typedef std::chrono::high_resolution_clock::time_point

Definition at line 629 of file basic_types.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
IDLE_FROM_SUCCESS
IDLE_FROM_FAILURE
IDLE_FROM_RUNNING

Definition at line 13 of file groot2_publisher.cpp.

◆ NodeStatus

enum BT::NodeStatus

strong

Enumerates the states every node can be in after execution during a particular time step. IMPORTANT: Your custom nodes should NEVER return IDLE.

Enumerator
IDLE
RUNNING
SUCCESS
FAILURE
SKIPPED

Definition at line 33 of file basic_types.h.

◆ NodeType

enum BT::NodeType

strong

Enumerates the possible types of nodes.

Enumerator
UNDEFINED
ACTION
CONDITION
CONTROL
DECORATOR
SUBTREE

Definition at line 20 of file basic_types.h.

◆ PortDirection

enum BT::PortDirection

strong

Enumerator
INPUT
OUTPUT
INOUT

Definition at line 52 of file basic_types.h.

◆ PostCond

enum BT::PostCond

strong

Enumerator
ON_HALTED
ON_FAILURE
ON_SUCCESS
ALWAYS
COUNT_

Definition at line 60 of file tree_node.h.

◆ PreCond

enum BT::PreCond

strong

Enumerator
FAILURE_IF
SUCCESS_IF
SKIP_IF
WHILE_TRUE
COUNT_

Definition at line 46 of file tree_node.h.

◆ TimestampType

enum BT::TimestampType

strong

Enumerator
absolute
relative

Definition at line 9 of file abstract_logger.h.

Function Documentation

◆ addNodeModelToXML()

void BT::addNodeModelToXML	(	const TreeNodeManifest &	model,
		XMLDocument &	doc,
		XMLElement *	model_root
	)

Definition at line 1082 of file xml_parsing.cpp.

◆ addTreeToXML()

void BT::addTreeToXML	(	const Tree &	tree,
		XMLDocument &	doc,
		XMLElement *	rootXML,
		bool	add_metadata,
		bool	add_builtin_models
	)

Definition at line 1138 of file xml_parsing.cpp.

◆ applyRecursiveVisitor() [1/2]

void BT::applyRecursiveVisitor	(	const TreeNode *	root_node,
		const std::function< void(const TreeNode *)> &	visitor
	)

Definition at line 18 of file behavior_tree.cpp.

◆ applyRecursiveVisitor() [2/2]

void BT::applyRecursiveVisitor	(	TreeNode *	root_node,
		const std::function< void(TreeNode *)> &	visitor
	)

Definition at line 41 of file behavior_tree.cpp.

◆ assignDefaultRemapping()

template<typename T >

void BT::assignDefaultRemapping ( NodeConfig & config )

inline

Definition at line 617 of file tree_node.h.

◆ BidirectionalPort() [1/2]

template<typename T = AnyTypeAllowed, typename DefaultT = T>

std::pair<std::string, PortInfo> BT::BidirectionalPort	(	StringView	name,
		const DefaultT &	default_value,
		StringView	description
	)

inline

Syntactic sugar to invoke CreatePort<T>(PortDirection::INOUT,...) It also sets the PortInfo::defaultValue()

Parameters

name	the name of the port
default_value	default value of the port, either type T of BlackboardKey
description	optional human-readable description

Definition at line 557 of file basic_types.h.

◆ BidirectionalPort() [2/2]

template<typename T = AnyTypeAllowed>

std::pair<std::string, PortInfo> BT::BidirectionalPort	(	StringView	name,
		StringView	description = `{}`
	)

inline

Syntactic sugar to invoke CreatePort<T>(PortDirection::INOUT,...)

Parameters

name	the name of the port
description	optional human-readable description

Definition at line 496 of file basic_types.h.

◆ BlackboardBackup()

std::vector< Blackboard::Ptr > BT::BlackboardBackup ( const BT::Tree & tree )

BlackboardBackup uses Blackboard::cloneInto to backup all the blackboards of the tree.

Parameters

tree source

Returns: destination (the backup)

Definition at line 665 of file bt_factory.cpp.

◆ BlackboardClone()

void BT::BlackboardClone	(	const Blackboard &	src,
		Blackboard &	dst
	)

BlackboardClone make a copy of the content of the blackboard.

Parameters

src	source
dst	destination

◆ BlackboardRestore()

void BT::BlackboardRestore	(	const std::vector< Blackboard::Ptr > &	backup,
		BT::Tree &	tree
	)

BlackboardRestore uses Blackboard::cloneInto to restore all the blackboards of the tree.

Parameters

backup	a vectror of blackboards
tree	the destination

Definition at line 656 of file bt_factory.cpp.

◆ buildSerializedStatusSnapshot() [1/2]

void BT::buildSerializedStatusSnapshot	(	const TreeNode *	root_node,
		SerializedTreeStatus &	serialized_buffer
	)

buildSerializedStatusSnapshot can be used to create a buffer that can be stored (or sent to a client application) to know the status of all the nodes of a tree. It is not "human readable".

Parameters

root_node
serialized_buffer	is the output.

◆ buildSerializedStatusSnapshot() [2/2]

void BT::buildSerializedStatusSnapshot	(	TreeNode *	root_node,
		SerializedTreeStatus &	serialized_buffer
	)

Definition at line 101 of file behavior_tree.cpp.

◆ buildTreeFromFile()

Tree BT::buildTreeFromFile	(	const BehaviorTreeFactory &	factory,
		const std::string &	filename,
		const Blackboard::Ptr &	blackboard
	)

Definition at line 1545 of file xml_parsing.cpp.

◆ buildTreeFromText()

Tree BT::buildTreeFromText	(	const BehaviorTreeFactory &	factory,
		const std::string &	text,
		const Blackboard::Ptr &	blackboard
	)

Definition at line 1537 of file xml_parsing.cpp.

◆ convertFromJSON() [1/2]

Any BT::convertFromJSON	(	StringView	json_text,
		std::type_index	type
	)

convertFromJSON will parse a json string and use JsonExporter to convert its content to a given type. It will work only if the type was previously registered. May throw if it fails.

Parameters

json_text	a valid JSON string
type	you must specify the typeid()

Returns: the object, wrapped in Any.

Definition at line 455 of file basic_types.cpp.

◆ convertFromJSON() [2/2]

template<typename T >

T BT::convertFromJSON ( StringView str )

inline

Same as the non template version, but with automatic casting.

Definition at line 104 of file basic_types.h.

◆ convertFromString()

template<>

Point2D BT::convertFromString< Point2D > ( StringView str )

inline

convertFromString is used to convert a string into a custom type.

This function is invoked under the hood by TreeNode::getInput(), but only when the input port contains a string.

If you have a custom type, you need to implement the corresponding template specialization.

If the string starts with the prefix "json:", it will fall back to convertFromJSON()

Definition at line 32 of file ex01_wrap_legacy.cpp.

◆ convertFromString< bool >()

template<>

bool BT::convertFromString< bool > ( StringView str )

Definition at line 254 of file basic_types.cpp.

◆ convertFromString< const char * >()

template<>

const char* BT::convertFromString< const char * > ( StringView str )

◆ convertFromString< double >()

template<>

double BT::convertFromString< double > ( StringView str )

Definition at line 192 of file basic_types.cpp.

◆ convertFromString< float >()

template<>

float BT::convertFromString< float > ( StringView str )

Definition at line 205 of file basic_types.cpp.

◆ convertFromString< int16_t >()

template<>

int16_t BT::convertFromString< int16_t > ( StringView str )

Definition at line 162 of file basic_types.cpp.

◆ convertFromString< int32_t >()

template<>

int32_t BT::convertFromString< int32_t > ( StringView str )

Definition at line 168 of file basic_types.cpp.

◆ convertFromString< int64_t >()

template<>

int64_t BT::convertFromString< int64_t > ( StringView str )

Definition at line 120 of file basic_types.cpp.

◆ convertFromString< int8_t >()

template<>

int8_t BT::convertFromString< int8_t > ( StringView str )

Definition at line 156 of file basic_types.cpp.

◆ convertFromString< NodeStatus >()

template<>

NodeStatus BT::convertFromString< NodeStatus > ( StringView str )

Definition at line 285 of file basic_types.cpp.

◆ convertFromString< NodeType >()

template<>

NodeType BT::convertFromString< NodeType > ( StringView str )

Definition at line 303 of file basic_types.cpp.

◆ convertFromString< PortDirection >()

template<>

PortDirection BT::convertFromString< PortDirection > ( StringView str )

Definition at line 319 of file basic_types.cpp.

◆ convertFromString< SharedQueue< bool > >()

template<>

SharedQueue<bool> BT::convertFromString< SharedQueue< bool > > ( StringView str )

inline

Definition at line 138 of file loop_node.h.

◆ convertFromString< SharedQueue< double > >()

template<>

SharedQueue<double> BT::convertFromString< SharedQueue< double > > ( StringView str )

inline

Definition at line 150 of file loop_node.h.

◆ convertFromString< SharedQueue< int > >()

template<>

SharedQueue<int> BT::convertFromString< SharedQueue< int > > ( StringView str )

inline

Definition at line 126 of file loop_node.h.

◆ convertFromString< SharedQueue< std::string > >()

template<>

SharedQueue<std::string> BT::convertFromString< SharedQueue< std::string > > ( StringView str )

inline

Definition at line 163 of file loop_node.h.

◆ convertFromString< std::string >()

template<>

std::string BT::convertFromString< std::string > ( StringView str )

Definition at line 114 of file basic_types.cpp.

◆ convertFromString< std::vector< double > >()

template<>

std::vector< double > BT::convertFromString< std::vector< double > > ( StringView str )

Definition at line 228 of file basic_types.cpp.

◆ convertFromString< std::vector< int > >()

template<>

std::vector< int > BT::convertFromString< std::vector< int > > ( StringView str )

Definition at line 215 of file basic_types.cpp.

◆ convertFromString< std::vector< std::string > >()

template<>

std::vector< std::string > BT::convertFromString< std::vector< std::string > > ( StringView str )

Definition at line 241 of file basic_types.cpp.

◆ convertFromString< uint16_t >()

template<>

uint16_t BT::convertFromString< uint16_t > ( StringView str )

Definition at line 180 of file basic_types.cpp.

◆ convertFromString< uint32_t >()

template<>

uint32_t BT::convertFromString< uint32_t > ( StringView str )

Definition at line 186 of file basic_types.cpp.

◆ convertFromString< uint64_t >()

template<>

uint64_t BT::convertFromString< uint64_t > ( StringView str )

Definition at line 132 of file basic_types.cpp.

◆ convertFromString< uint8_t >()

template<>

uint8_t BT::convertFromString< uint8_t > ( StringView str )

Definition at line 174 of file basic_types.cpp.

◆ convertToFlatbuffers() [1/3]

Serialization::NodeStatus BT::convertToFlatbuffers ( BT::NodeStatus type )

inline

Definition at line 31 of file bt_flatbuffer_helper.h.

◆ convertToFlatbuffers() [2/3]

Serialization::NodeType BT::convertToFlatbuffers ( BT::NodeType type )

inline

Definition at line 11 of file bt_flatbuffer_helper.h.

◆ convertToFlatbuffers() [3/3]

Serialization::PortDirection BT::convertToFlatbuffers ( BT::PortDirection direction )

inline

Definition at line 48 of file bt_flatbuffer_helper.h.

◆ ConvertWithBoundCheck()

template<typename T >

T BT::ConvertWithBoundCheck ( StringView str )

Definition at line 144 of file basic_types.cpp.

◆ CreateBuilder()

template<typename T , typename... Args>

NodeBuilder BT::CreateBuilder ( Args... args )

inline

Definition at line 34 of file bt_factory.h.

◆ CreateFlatbuffersBehaviorTree()

void BT::CreateFlatbuffersBehaviorTree	(	flatbuffers::FlatBufferBuilder &	builder,
		const BT::Tree &	tree
	)

inline

Definition at line 62 of file bt_flatbuffer_helper.h.

◆ CreateManifest()

template<typename T >

TreeNodeManifest BT::CreateManifest	(	const std::string &	ID,
		PortsList	portlist = `getProvidedPorts<T>()`
	)

inline

Definition at line 42 of file bt_factory.h.

◆ CreatePort()

template<typename T = AnyTypeAllowed>

std::pair<std::string, PortInfo> BT::CreatePort	(	PortDirection	direction,
		StringView	name,
		StringView	description = `{}`
	)

Definition at line 435 of file basic_types.h.

◆ CreateRandomUUID()

std::array<char, 16> BT::CreateRandomUUID ( )

Definition at line 33 of file groot2_publisher.cpp.

◆ demangle() [1/3]

std::string BT::demangle ( char const * name )

inline

Definition at line 74 of file demangle_util.h.

◆ demangle() [2/3]

std::string BT::demangle ( const std::type_index & index )

inline

Definition at line 81 of file demangle_util.h.

◆ demangle() [3/3]

std::string BT::demangle ( const std::type_info & info )

inline

Definition at line 116 of file demangle_util.h.

◆ demangle_alloc()

char const * BT::demangle_alloc ( char const * name )

inlinenoexcept

Definition at line 66 of file demangle_util.h.

◆ demangle_free()

void BT::demangle_free ( char const * name )

inlinenoexcept

Definition at line 71 of file demangle_util.h.

◆ ExportBlackboardToJSON()

nlohmann::json BT::ExportBlackboardToJSON ( const Blackboard & blackboard )

ExportBlackboardToJSON will create a JSON that contains the current values of the blackboard. Complex types must be registered with JsonExporter::get()

Definition at line 267 of file blackboard.cpp.

◆ ExportTreeToJSON()

nlohmann::json BT::ExportTreeToJSON ( const BT::Tree & tree )

ExportTreeToJSON it calls ExportBlackboardToJSON for all the blackboards in the tree.

Definition at line 677 of file bt_factory.cpp.

◆ GetAnyFromStringFunctor()

template<typename T >

StringConverter BT::GetAnyFromStringFunctor ( )

inline

Definition at line 212 of file basic_types.h.

◆ GetAnyFromStringFunctor< void >()

template<>

StringConverter BT::GetAnyFromStringFunctor< void > ( )

inline

Definition at line 229 of file basic_types.h.

◆ getProvidedPorts() [1/2]

template<typename T >

PortsList BT::getProvidedPorts ( enable_if< has_static_method_providedPorts< T >> = nullptr )

inline

Definition at line 617 of file basic_types.h.

◆ getProvidedPorts() [2/2]

template<typename T >

PortsList BT::getProvidedPorts ( enable_if_not< has_static_method_providedPorts< T >> = nullptr )

inline

Definition at line 624 of file basic_types.h.

◆ getType()

template<typename T >

NodeType BT::getType ( )

inline

Simple way to extract the type of a TreeNode at COMPILE TIME. Useful to avoid the cost of dynamic_cast or the virtual method TreeNode::type().

Definition at line 88 of file behavior_tree.h.

◆ hasNodeFullCtor()

template<typename T , typename... ExtraArgs>

constexpr bool BT::hasNodeFullCtor ( )

inlineconstexpr

Definition at line 124 of file tree_node.h.

◆ hasNodeNameCtor()

template<typename T >

constexpr bool BT::hasNodeNameCtor ( )

inlineconstexpr

Definition at line 118 of file tree_node.h.

◆ ImportBlackboardFromJSON()

void BT::ImportBlackboardFromJSON	(	const nlohmann::json &	json,
		Blackboard &	blackboard
	)

ImportBlackboardFromJSON will append elements to the blackboard, using the values parsed from the JSON file created using ExportBlackboardToJSON. Complex types must be registered with JsonExporter::get()

Definition at line 284 of file blackboard.cpp.

◆ ImportTreeFromJSON()

void BT::ImportTreeFromJSON	(	const nlohmann::json &	json,
		BT::Tree &	tree
	)

ImportTreeFromJSON it calls ImportBlackboardFromJSON for all the blackboards in the tree.

Definition at line 693 of file bt_factory.cpp.

◆ InputPort() [1/2]

template<typename T = AnyTypeAllowed, typename DefaultT = T>

std::pair<std::string, PortInfo> BT::InputPort	(	StringView	name,
		const DefaultT &	default_value,
		StringView	description
	)

inline

Syntactic sugar to invoke CreatePort<T>(PortDirection::INPUT,...) It also sets the PortInfo::defaultValue()

Parameters

name	the name of the port
default_value	default value of the port, either type T of BlackboardKey
description	optional human-readable description

Definition at line 542 of file basic_types.h.

◆ InputPort() [2/2]

template<typename T = AnyTypeAllowed>

std::pair<std::string, PortInfo> BT::InputPort	(	StringView	name,
		StringView	description = `{}`
	)

inline

Syntactic sugar to invoke CreatePort<T>(PortDirection::INPUT, ...)

Parameters

name	the name of the port
description	optional human-readable description

Definition at line 472 of file basic_types.h.

◆ IsAllowedPortName()

bool BT::IsAllowedPortName ( StringView str )

Definition at line 422 of file basic_types.cpp.

◆ isCastingSafe()

template<typename T >

bool BT::isCastingSafe	(	const std::type_index &	type,
		const T &	val
	)

inline

Definition at line 279 of file safe_any.hpp.

◆ IsConvertibleToString()

template<typename T >

constexpr bool BT::IsConvertibleToString ( )

constexpr

Definition at line 237 of file basic_types.h.

◆ IsPrivateKey()

bool BT::IsPrivateKey ( StringView str )

Definition at line 8 of file blackboard.cpp.

◆ IsReservedAttribute()

bool BT::IsReservedAttribute ( StringView str )

Definition at line 436 of file basic_types.cpp.

◆ isStatusActive()

bool BT::isStatusActive ( const NodeStatus & status )

inline

Definition at line 42 of file basic_types.h.

◆ isStatusCompleted()

bool BT::isStatusCompleted ( const NodeStatus & status )

inline

Definition at line 47 of file basic_types.h.

◆ LibraryVersionNumber()

int BT::LibraryVersionNumber ( )

Definition at line 114 of file behavior_tree.cpp.

◆ LibraryVersionString()

const char * BT::LibraryVersionString ( )

Definition at line 126 of file behavior_tree.cpp.

◆ operator<<() [1/3]

std::ostream & BT::operator<<	(	std::ostream &	os,
		const BT::NodeStatus &	status
	)

Definition at line 337 of file basic_types.cpp.

◆ operator<<() [2/3]

std::ostream & BT::operator<<	(	std::ostream &	os,
		const BT::NodeType &	type
	)

Definition at line 331 of file basic_types.cpp.

◆ operator<<() [3/3]

std::ostream & BT::operator<<	(	std::ostream &	os,
		const BT::PortDirection &	type
	)

Definition at line 343 of file basic_types.cpp.

◆ OutputPort() [1/2]

template<typename T = AnyTypeAllowed>

std::pair<std::string, PortInfo> BT::OutputPort	(	StringView	name,
		StringView	default_value,
		StringView	description
	)

inline

Syntactic sugar to invoke CreatePort<T>(PortDirection::OUTPUT,...) It also sets the PortInfo::defaultValue()

Parameters

name	the name of the port
default_value	default blackboard entry where the output is written
description	optional human-readable description

Definition at line 571 of file basic_types.h.

◆ OutputPort() [2/2]

template<typename T = AnyTypeAllowed>

std::pair<std::string, PortInfo> BT::OutputPort	(	StringView	name,
		StringView	description = `{}`
	)

inline

Syntactic sugar to invoke CreatePort<T>(PortDirection::OUTPUT,...)

Parameters

name	the name of the port
description	optional human-readable description

Definition at line 484 of file basic_types.h.

◆ ParseScript()

Expected< ScriptFunction > BT::ParseScript ( const std::string & script )

Definition at line 14 of file script_parser.cpp.

◆ ParseScriptAndExecute()

BT::Expected< Any > BT::ParseScriptAndExecute	(	Ast::Environment &	env,
		const std::string &	script
	)

Definition at line 57 of file script_parser.cpp.

◆ printTreeRecursively()

void BT::printTreeRecursively	(	const TreeNode *	root_node,
		std::ostream &	stream = `std::cout`
	)

Debug function to print the hierarchy of the tree. Prints to std::cout by default.

Definition at line 66 of file behavior_tree.cpp.

◆ RegisterJsonDefinition()

template<typename T >

void BT::RegisterJsonDefinition ( )

inline

Definition at line 182 of file json_export.h.

◆ SerializeTransition()

SerializedTransition BT::SerializeTransition	(	uint16_t	UID,
		Duration	timestamp,
		NodeStatus	prev_status,
		NodeStatus	status
	)

inline

Serialize manually the informations about state transition No flatbuffer serialization here

Definition at line 142 of file bt_flatbuffer_helper.h.

◆ splitString()

std::vector< StringView > BT::splitString	(	const StringView &	strToSplit,
		char	delimeter
	)

Definition at line 349 of file basic_types.cpp.

◆ StartWith() [1/2]

bool BT::StartWith	(	StringView	str,
		char	prefix
	)

Definition at line 482 of file basic_types.cpp.

◆ StartWith() [2/2]

bool BT::StartWith	(	StringView	str,
		StringView	prefix
	)

Definition at line 476 of file basic_types.cpp.

◆ StrAppend() [1/4]

void BT::StrAppend	(	std::string *	destination,
		const std::string_view &	a
	)

inline

Definition at line 79 of file strcat.hpp.

◆ StrAppend() [2/4]

void BT::StrAppend	(	std::string *	destination,
		const std::string_view &	a,
		const std::string_view &	b
	)

inline

Definition at line 84 of file strcat.hpp.

◆ StrAppend() [3/4]

void BT::StrAppend	(	std::string *	destination,
		const std::string_view &	a,
		const std::string_view &	b,
		const std::string_view &	c
	)

inline

Definition at line 90 of file strcat.hpp.

◆ StrAppend() [4/4]

template<typename... AV>

void BT::StrAppend	(	std::string *	destination,
		const std::string_view &	a,
		const std::string_view &	b,
		const std::string_view &	c,
		const std::string_view &	d,
		const AV &...	args
	)

inline

Definition at line 98 of file strcat.hpp.

◆ StrCat() [1/5]

std::string BT::StrCat ( )

inline

Definition at line 46 of file strcat.hpp.

◆ StrCat() [2/5]

std::string BT::StrCat ( const std::string_view & a )

inline

Definition at line 51 of file strcat.hpp.

◆ StrCat() [3/5]

std::string BT::StrCat	(	const std::string_view &	a,
		const std::string_view &	b
	)

inline

Definition at line 56 of file strcat.hpp.

◆ StrCat() [4/5]

std::string BT::StrCat	(	const std::string_view &	a,
		const std::string_view &	b,
		const std::string_view &	c
	)

inline

Definition at line 61 of file strcat.hpp.

◆ StrCat() [5/5]

template<typename... AV>

std::string BT::StrCat	(	const std::string_view &	a,
		const std::string_view &	b,
		const std::string_view &	c,
		const std::string_view &	d,
		const AV &...	args
	)

inline

Definition at line 69 of file strcat.hpp.

◆ toConstStr()

const char* BT::toConstStr ( NodeType type )

Definition at line 24 of file bt_minitrace_logger.cpp.

◆ toJsonString()

Expected< std::string > BT::toJsonString ( const Any & value )

Definition at line 466 of file basic_types.cpp.

◆ toStr() [1/2]

std::string BT::toStr	(	BT::NodeStatus	status,
		bool	colored
	)

toStr converts NodeStatus to string. Optionally colored.

Definition at line 43 of file basic_types.cpp.

◆ toStr() [2/2]

template<typename T >

std::string BT::toStr ( const T & value )

toStr is the reverse operation of convertFromString.

If T is a custom type and there is no template specialization, it will try to fall back to toJsonString()

Definition at line 252 of file basic_types.h.

◆ toStr< bool >()

template<>

std::string BT::toStr< bool > ( const bool & value )

Definition at line 32 of file basic_types.cpp.

◆ toStr< BT::NodeStatus >()

template<>

std::string BT::toStr< BT::NodeStatus > ( const BT::NodeStatus & status )

◆ toStr< BT::NodeType >()

template<>

std::string BT::toStr< BT::NodeType > ( const BT::NodeType & type )

◆ toStr< BT::PortDirection >()

template<>

std::string BT::toStr< BT::PortDirection > ( const BT::PortDirection & direction )

◆ toStr< BT::PostCond >()

template<>

std::string BT::toStr< BT::PostCond > ( const BT::PostCond & cond )

◆ toStr< BT::PreCond >()

template<>

std::string BT::toStr< BT::PreCond > ( const BT::PreCond & cond )

◆ toStr< NodeStatus >()

template<>

std::string BT::toStr< NodeStatus > ( const NodeStatus & status )

Definition at line 13 of file basic_types.cpp.

◆ toStr< NodeType >()

template<>

std::string BT::toStr< NodeType > ( const NodeType & type )

Definition at line 94 of file basic_types.cpp.

◆ toStr< PortDirection >()

template<>

std::string BT::toStr< PortDirection > ( const PortDirection & direction )

Definition at line 79 of file basic_types.cpp.

◆ toStr< PostCond >()

template<>

std::string BT::toStr< PostCond > ( const PostCond & cond )

Definition at line 477 of file tree_node.cpp.

◆ toStr< PreCond >()

template<>

std::string BT::toStr< PreCond > ( const PreCond & cond )

Definition at line 467 of file tree_node.cpp.

◆ toStr< std::string >()

template<>

std::string BT::toStr< std::string > ( const std::string & value )

Definition at line 38 of file basic_types.cpp.

◆ ToUsec()

int64_t BT::ToUsec ( Duration ts )

Definition at line 8 of file bt_file_logger_v2.cpp.

◆ ValidateScript()

Result BT::ValidateScript ( const std::string & script )

ValidateScript will check if a certain string is valid.

Definition at line 70 of file script_parser.cpp.

◆ ValidCast()

template<typename SRC , typename TO >

bool BT::ValidCast ( const SRC & val )

inline

Definition at line 246 of file safe_any.hpp.

◆ VerifyXML() [1/2]

void BT::VerifyXML	(	const std::string &	xml_text,
		const std::unordered_map< std::string, BT::NodeType > &	registered_nodes
	)

Definition at line 353 of file xml_parsing.cpp.

◆ VerifyXML() [2/2]

void BT::VerifyXML	(	const std::string &	xml_text,
		const std::unordered_map< std::string, NodeType > &	registered_nodes
	)

◆ WildcardMatch()

bool BT::WildcardMatch	(	const std::string &	str,
		StringView	filter
	)

Definition at line 27 of file bt_factory.cpp.

◆ writeTreeNodesModelXML()

std::string BT::writeTreeNodesModelXML	(	const BehaviorTreeFactory &	factory,
		bool	include_builtin = `false`
	)

writeTreeNodesModelXML generates an XMl that contains the manifests in the <TreeNodesModel>

Parameters

factory	the factory with the registered types
include_builtin	if true, include the builtin Nodes

Returns: string containing the XML.

Definition at line 1234 of file xml_parsing.cpp.

◆ WriteTreeToXML()

std::string BT::WriteTreeToXML	(	const Tree &	tree,
		bool	add_metadata,
		bool	add_builtin_models
	)

WriteTreeToXML create a string that contains the XML that corresponds to a given tree. When using this function with a logger, you should probably set both add_metadata and add_builtin_models to true.

Parameters

tree	the input tree
add_metadata	if true, the attributes "_uid" and "_fullPath" will be added to the nodes
add_builtin_models	if true, include the builtin Nodes into the <TreeNodesModel>

Returns: string containing the XML.

Definition at line 1553 of file xml_parsing.cpp.

◆ writeTreeXSD()

std::string BT::writeTreeXSD ( const BehaviorTreeFactory & factory )

writeTreeXSD generates an XSD for the nodes defined in the factory

Parameters

factory the factory with the registered types

Returns: string containing the XML.

Definition at line 1266 of file xml_parsing.cpp.

Variable Documentation

◆ PLUGIN_SYMBOL

constexpr const char* BT::PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin"

constexpr

Definition at line 83 of file bt_factory.h.

◆ PostCondNames

const std::array<std::string, 4> BT::PostCondNames

static

Initial value:

= {  
  "_onHalted", "_onFailure", "_onSuccess", "_post"
}

Definition at line 70 of file tree_node.h.

◆ PreCondNames

const std::array<std::string, 4> BT::PreCondNames

static

Initial value:

= {  
  "_failureIf", "_successIf", "_skipIf", "_while"
}

Definition at line 56 of file tree_node.h.

◆ StrEqual

auto BT::StrEqual

Initial value:

= [](const char* str1, const char* str2) -> bool {
  return strcmp(str1, str2) == 0;
}

Definition at line 86 of file xml_parsing.cpp.

◆ UndefinedAnyType

std::type_index BT::UndefinedAnyType = typeid(nullptr)

static

Definition at line 32 of file safe_any.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ AnyPtrLocked

◆ Duration

◆ enable_if

◆ enable_if_not

◆ EnumsTable

◆ EnumsTablePtr

◆ ErrorReport

◆ Expected

◆ KeyValueVector

◆ NodeBuilder

◆ NodeConfiguration

◆ NonPortAttributes

◆ PortsList

◆ PortsRemapping

◆ Result

◆ ScriptFunction

◆ ScriptingEnumsRegistry

◆ SerializedTransition

◆ SerializedTreeStatus

◆ SharedQueue

◆ StringConverter

◆ StringConvertersMap

◆ StringView

◆ TimePoint

Enumeration Type Documentation

◆ anonymous enum

◆ NodeStatus

◆ NodeType

◆ PortDirection

◆ PostCond

◆ PreCond

◆ TimestampType

Function Documentation

◆ addNodeModelToXML()

◆ addTreeToXML()

◆ applyRecursiveVisitor() [1/2]

◆ applyRecursiveVisitor() [2/2]

◆ assignDefaultRemapping()

◆ BidirectionalPort() [1/2]

◆ BidirectionalPort() [2/2]

◆ BlackboardBackup()

◆ BlackboardClone()

◆ BlackboardRestore()

◆ buildSerializedStatusSnapshot() [1/2]

◆ buildSerializedStatusSnapshot() [2/2]

◆ buildTreeFromFile()

◆ buildTreeFromText()

◆ convertFromJSON() [1/2]

◆ convertFromJSON() [2/2]

◆ convertFromString()

◆ convertFromString< bool >()

◆ convertFromString< const char * >()

◆ convertFromString< double >()

◆ convertFromString< float >()

◆ convertFromString< int16_t >()

◆ convertFromString< int32_t >()

◆ convertFromString< int64_t >()

◆ convertFromString< int8_t >()

◆ convertFromString< NodeStatus >()

◆ convertFromString< NodeType >()

◆ convertFromString< PortDirection >()

◆ convertFromString< SharedQueue< bool > >()

◆ convertFromString< SharedQueue< double > >()

◆ convertFromString< SharedQueue< int > >()

◆ convertFromString< SharedQueue< std::string > >()

◆ convertFromString< std::string >()

◆ convertFromString< std::vector< double > >()

◆ convertFromString< std::vector< int > >()

◆ convertFromString< std::vector< std::string > >()

◆ convertFromString< uint16_t >()

◆ convertFromString< uint32_t >()

◆ convertFromString< uint64_t >()