The SubtreePlus is a new kind of subtree that gives you much more control over remapping: More...

#include <subtree_node.h>

Inheritance diagram for BT::SubtreePlusNode:

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 ()
	Same as resetChild() More...

void	resetChild ()

void	setChild (TreeNode *child)

virtual	~DecoratorNode () override=default

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

void	emitStateChanged ()

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...

virtual NodeType	type () const override final

Static Private Member Functions
static PortsList	providedPorts ()

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::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:

<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 78 of file subtree_node.h.

Constructor & Destructor Documentation

◆ SubtreePlusNode()

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

Definition at line 25 of file subtree_node.cpp.

◆ ~SubtreePlusNode()

virtual BT::SubtreePlusNode::~SubtreePlusNode ( )

overridevirtualdefault

Member Function Documentation

◆ providedPorts()

static PortsList BT::SubtreePlusNode::providedPorts ( )

inlinestaticprivate

Definition at line 88 of file subtree_node.h.

◆ tick()

BT::NodeStatus BT::SubtreePlusNode::tick ( )

overrideprivatevirtual

Method to be implemented by the user.

Implements BT::TreeNode.

Definition at line 30 of file subtree_node.cpp.

◆ type()

virtual NodeType BT::SubtreePlusNode::type ( ) const

inlinefinaloverrideprivatevirtual

Reimplemented from BT::DecoratorNode.

Definition at line 95 of file subtree_node.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Additional Inherited Members