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

#include <sequence_node.h>

Inheritance diagram for BT::SequenceNode:

[legend]

Public Member Functions
virtual void	halt () override

	SequenceNode (const std::string &name)

virtual	~SequenceNode () override=default

Public Member Functions inherited from BT::ControlNode
void	addChild (TreeNode *child)
	The method used to add nodes to the children vector. More...

const TreeNode *	child (size_t index) const

const std::vector< TreeNode * > &	children () const

size_t	childrenCount () const

	ControlNode (const std::string &name, const NodeConfiguration &config)

void	haltChild (size_t i)

void	haltChildren ()
	same as resetChildren() More...

void	haltChildren (size_t first)

void	resetChildren ()

virtual NodeType	type () const override final

virtual	~ControlNode () override=default

Public Member Functions inherited from BT::TreeNode
const NodeConfiguration &	config () const

void	emitStateChanged ()

virtual BT::NodeStatus	executeTick ()
	The method that should be used to invoke tick() and setStatus();. More...

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)

void	setPostTickOverrideFunction (PostTickOverrideCallback callback)

void	setPreTickOverrideFunction (PreTickOverrideCallback 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 (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...

Private Attributes
size_t	current_child_idx_

Additional Inherited Members
Public Types inherited from BT::TreeNode
using	PostTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus, NodeStatus)>

using	PreTickOverrideCallback = std::function< Optional< NodeStatus >(TreeNode &, NodeStatus)>

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	resetStatus ()
	Equivalent to setStatus(NodeStatus::IDLE) More...

void	setRegistrationID (StringView ID)

void	setStatus (NodeStatus new_status)

void	setWakeUpInstance (std::shared_ptr< WakeUpSignal > instance)

Protected Attributes inherited from BT::ControlNode
std::vector< TreeNode * >	children_nodes_

Detailed Description

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

If all the children return SUCCESS, this node returns SUCCESS.
If a child returns RUNNING, this node returns RUNNING. Loop is NOT restarted, the same running child will be ticked again.
If a child returns FAILURE, stop the loop and return FAILURE. Restart the loop only if (reset_on_failure == true)

Definition at line 33 of file sequence_node.h.

Constructor & Destructor Documentation

◆ SequenceNode()

BT::SequenceNode::SequenceNode ( const std::string & name )

Definition at line 19 of file sequence_node.cpp.

◆ ~SequenceNode()

virtual BT::SequenceNode::~SequenceNode ( )

overridevirtualdefault

Member Function Documentation

◆ halt()

void BT::SequenceNode::halt ( )

overridevirtual

The method used to interrupt the execution of a RUNNING node. Only Async nodes that may return RUNNING should implement it.

Reimplemented from BT::ControlNode.

Definition at line 25 of file sequence_node.cpp.

◆ tick()

NodeStatus BT::SequenceNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 31 of file sequence_node.cpp.

Member Data Documentation

◆ current_child_idx_

size_t BT::SequenceNode::current_child_idx_

private

Definition at line 43 of file sequence_node.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members