Namespaces
	details

	strings_internal

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

class	AsyncActionNode
	The AsyncActionNode uses a different thread, where the action will be executed. More...

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	BlackboardPreconditionNode

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 asynch 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	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	FileLogger

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

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

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

class	LeafNode

class	LogicError

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

class	MinitraceLogger

struct	NodeConfiguration

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

struct	ProtectedQueue

class	PublisherZMQ

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	RuntimeError

class	scoped_demangled_name

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

class	SetBlackboard
	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	StatefulActionNode
	The ActionNode is the prefered way to implement asynchronous Actions. It is actually easier to use correctly, when compared with AsyncAction. More...

class	StatusChangeLogger

class	StdCoutLogger
	AddStdCoutLoggerToTree. Give the root node of a tree, a simple callback is subscribed to any status change of each node. More...

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

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

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

class	TimerQueue

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	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
typedef std::chrono::high_resolution_clock::duration	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 *

template<typename T >
using	has_default_constructor = typename std::is_constructible< T, const std::string & >

template<typename T >
using	has_params_constructor = typename std::is_constructible< T, const std::string &, const NodeConfiguration & >

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

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

typedef std::unordered_map< std::string, PortInfo >	PortsList

typedef std::unordered_map< std::string, std::string >	PortsRemapping

using	Result = Optional< void >

typedef std::array< uint8_t, 12 >	SerializedTransition

typedef std::vector< std::pair< uint16_t, uint8_t > >	SerializedTreeStatus

typedef std::function< Any(StringView)>	StringConverter

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

typedef nonstd::string_view	StringView

typedef std::chrono::high_resolution_clock::time_point	TimePoint

Enumerations
enum	NodeStatus { NodeStatus::IDLE = 0, NodeStatus::RUNNING, NodeStatus::SUCCESS, NodeStatus::FAILURE }

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

Functions
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 (NodeConfiguration &config)

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

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

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)

template<>
Position2D	convertFromString (StringView str)

template<>
Pose2D	convertFromString (StringView key)

template<>
Point3D	convertFromString (StringView key)

template<typename T >
T	convertFromString (StringView)

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<>
int	convertFromString< int > (StringView str)

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

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

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

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

template<>
unsigned long	convertFromString< unsigned long > (StringView str)

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

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

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

template<typename T >
NodeBuilder	CreateBuilder (typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)

template<typename T >
NodeBuilder	CreateBuilder (typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type *=nullptr)

template<typename T >
NodeBuilder	CreateBuilder (typename std::enable_if< has_default_constructor< T >::value &&!has_params_constructor< T >::value >::type *=nullptr)

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

std::string	demangle (char const *name)

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

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

char const *	demangle_alloc (char const *name) noexcept

void	demangle_free (char const *name) noexcept

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 ()

static uint16_t	getUID ()

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

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

template<typename T >
bool	IsSame (const T &a, const T &b)

bool	IsSame (const double &a, const double &b)

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

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

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

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

bool	StatusCompleted (const NodeStatus &status)

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

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

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

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

std::string	StrCat ()

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

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

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

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

const char *	toConstStr (NodeType type)

template<typename T >
std::string	toStr (T value)

std::string	toStr (std::string value)

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

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

template<>
std::string	toStr< BT::NodeType > (BT::NodeType type)
	toStr converts NodeType to string. More...

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

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

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

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

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

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

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

Variables
constexpr const char *	PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin"

const std::unordered_set< std::string >	ReservedPortNames = {"ID", "name", "_description"}

auto	StrEqual

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

◆ Duration

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

Definition at line 362 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 175 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 178 of file basic_types.h.

◆ has_default_constructor

template<typename T >

using BT::has_default_constructor = typedef typename std::is_constructible<T, const std::string&>

Definition at line 35 of file bt_factory.h.

◆ has_params_constructor

template<typename T >

using BT::has_params_constructor = typedef typename std::is_constructible<T, const std::string&, const NodeConfiguration&>

Definition at line 39 of file bt_factory.h.

◆ NodeBuilder

typedef std::function<std::unique_ptr<TreeNode>const std::string&, const NodeConfiguration&)> BT::NodeBuilder

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

Definition at line 32 of file bt_factory.h.

◆ Optional

template<typename T >

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

Usage: given a function/method like:

Optional<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 197 of file basic_types.h.

◆ PortsList

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

Definition at line 333 of file basic_types.h.

◆ PortsRemapping

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

Definition at line 42 of file tree_node.h.

◆ Result

using BT::Result = typedef Optional<void>

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 217 of file basic_types.h.

◆ SerializedTransition

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

Definition at line 9 of file bt_flatbuffer_helper.h.

◆ SerializedTreeStatus

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

Definition at line 64 of file behavior_tree.h.

◆ StringConverter

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

Definition at line 121 of file basic_types.h.

◆ StringConvertersMap

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

Definition at line 123 of file basic_types.h.

◆ StringView

typedef nonstd::string_view BT::StringView

Definition at line 55 of file basic_types.h.

◆ TimePoint

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

Definition at line 361 of file basic_types.h.

Enumeration Type Documentation

◆ 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

Definition at line 35 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 22 of file basic_types.h.

◆ PortDirection

enum BT::PortDirection

strong

Enumerator
INPUT
OUTPUT
INOUT

Definition at line 48 of file basic_types.h.

◆ TimestampType

enum BT::TimestampType

strong

Enumerator
absolute
relative

Definition at line 9 of file abstract_logger.h.

Function Documentation

◆ 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 42 of file behavior_tree.cpp.

◆ assignDefaultRemapping()

template<typename T >

void BT::assignDefaultRemapping ( NodeConfiguration & config )

inline

Definition at line 326 of file tree_node.h.

◆ BidirectionalPort() [1/2]

template<typename T = void>

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

inline

Definition at line 307 of file basic_types.h.

◆ BidirectionalPort() [2/2]

template<typename T = void>

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

inline

Definition at line 323 of file basic_types.h.

◆ 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 103 of file behavior_tree.cpp.

◆ buildTreeFromFile()

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

Definition at line 898 of file xml_parsing.cpp.

◆ buildTreeFromText()

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

Definition at line 890 of file xml_parsing.cpp.

◆ convertFromString() [1/4]

template<>

Position2D BT::convertFromString ( StringView str )

inline

Definition at line 20 of file t03_generic_ports.cpp.

◆ convertFromString() [2/4]

template<>

Pose2D BT::convertFromString ( StringView key )

inline

Definition at line 21 of file movebase_node.h.

◆ convertFromString() [3/4]

template<>

Point3D BT::convertFromString ( StringView key )

Definition at line 32 of file ex01_wrap_legacy.cpp.

◆ convertFromString() [4/4]

template<typename T >

T BT::convertFromString ( StringView )

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.

Definition at line 66 of file basic_types.h.

◆ convertFromString< bool >()

template<>

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

Definition at line 178 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 127 of file basic_types.cpp.

◆ convertFromString< float >()

template<>

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

Definition at line 140 of file basic_types.cpp.

◆ convertFromString< int >()

template<>

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

Definition at line 103 of file basic_types.cpp.

◆ convertFromString< long >()

template<>

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

Definition at line 109 of file basic_types.cpp.

◆ convertFromString< NodeStatus >()

template<>

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

Definition at line 209 of file basic_types.cpp.

◆ convertFromString< NodeType >()

template<>

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

Definition at line 224 of file basic_types.cpp.

◆ convertFromString< PortDirection >()

template<>

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

Definition at line 240 of file basic_types.cpp.

◆ convertFromString< std::string >()

template<>

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

Definition at line 97 of file basic_types.cpp.

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

template<>

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

Definition at line 164 of file basic_types.cpp.

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

template<>

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

Definition at line 150 of file basic_types.cpp.

◆ convertFromString< unsigned >()

template<>

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

Definition at line 115 of file basic_types.cpp.

◆ convertFromString< unsigned long >()

template<>

unsigned long BT::convertFromString< unsigned long > ( StringView str )

Definition at line 121 of file basic_types.cpp.

◆ convertToFlatbuffers() [1/3]

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

inline

Definition at line 11 of file bt_flatbuffer_helper.h.

◆ convertToFlatbuffers() [2/3]

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

inline

Definition at line 31 of file bt_flatbuffer_helper.h.

◆ convertToFlatbuffers() [3/3]

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

inline

Definition at line 47 of file bt_flatbuffer_helper.h.

◆ CreateBuilder() [1/3]

template<typename T >

NodeBuilder BT::CreateBuilder ( typename std::enable_if< has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr )

inline

Definition at line 43 of file bt_factory.h.

◆ CreateBuilder() [2/3]

template<typename T >

NodeBuilder BT::CreateBuilder ( typename std::enable_if<!has_default_constructor< T >::value &&has_params_constructor< T >::value >::type * = nullptr )

inline

Definition at line 59 of file bt_factory.h.

◆ CreateBuilder() [3/3]

template<typename T >

NodeBuilder BT::CreateBuilder ( typename std::enable_if< has_default_constructor< T >::value &&!has_params_constructor< T >::value >::type * = nullptr )

inline

Definition at line 69 of file bt_factory.h.

◆ CreateFlatbuffersBehaviorTree()

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

inline

Definition at line 61 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 78 of file bt_factory.h.

◆ CreatePort()

template<typename T = void>

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

Definition at line 265 of file basic_types.h.

◆ demangle() [1/3]

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

inline

Definition at line 72 of file demangle_util.h.

◆ demangle() [2/3]

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

inline

Definition at line 79 of file demangle_util.h.

◆ demangle() [3/3]

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

inline

Definition at line 101 of file demangle_util.h.

◆ demangle_alloc()

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

inlinenoexcept

Definition at line 64 of file demangle_util.h.

◆ demangle_free()

void BT::demangle_free ( char const * name )

inlinenoexcept

Definition at line 69 of file demangle_util.h.

◆ GetAnyFromStringFunctor()

template<typename T >

StringConverter BT::GetAnyFromStringFunctor ( )

inline

Definition at line 127 of file basic_types.h.

◆ GetAnyFromStringFunctor< void >()

template<>

StringConverter BT::GetAnyFromStringFunctor< void > ( )

inline

Definition at line 133 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 349 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 356 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 80 of file behavior_tree.h.

◆ getUID()

static uint16_t BT::getUID ( )

static

Definition at line 19 of file tree_node.cpp.

◆ InputPort() [1/2]

template<typename T = void>

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

inline

Definition at line 293 of file basic_types.h.

◆ InputPort() [2/2]

template<typename T = void>

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

inline

Definition at line 314 of file basic_types.h.

◆ IsSame() [1/2]

template<typename T >

bool BT::IsSame	(	const T &	a,
		const T &	b
	)

inline

Definition at line 65 of file blackboard_precondition.h.

◆ IsSame() [2/2]

bool BT::IsSame	(	const double &	a,
		const double &	b
	)

inline

Definition at line 70 of file blackboard_precondition.h.

◆ operator<<() [1/3]

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

Definition at line 255 of file basic_types.cpp.

◆ operator<<() [2/3]

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

Definition at line 249 of file basic_types.cpp.

◆ operator<<() [3/3]

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

Definition at line 261 of file basic_types.cpp.

◆ OutputPort()

template<typename T = void>

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

inline

Definition at line 300 of file basic_types.h.

◆ 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 68 of file behavior_tree.cpp.

◆ 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 139 of file bt_flatbuffer_helper.h.

◆ splitString()

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

Definition at line 267 of file basic_types.cpp.

◆ StatusCompleted()

bool BT::StatusCompleted ( const NodeStatus & status )

inline

Definition at line 43 of file basic_types.h.

◆ StrAppend() [1/4]

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

inline

Definition at line 80 of file strcat.hpp.

◆ StrAppend() [2/4]

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

inline

Definition at line 86 of file strcat.hpp.

◆ StrAppend() [3/4]

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

inline

Definition at line 93 of file strcat.hpp.

◆ StrAppend() [4/4]

template<typename... AV>

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

inline

Definition at line 103 of file strcat.hpp.

◆ StrCat() [1/5]

std::string BT::StrCat ( )

inline

Definition at line 47 of file strcat.hpp.

◆ StrCat() [2/5]

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

inline

Definition at line 49 of file strcat.hpp.

◆ StrCat() [3/5]

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

inline

Definition at line 53 of file strcat.hpp.

◆ StrCat() [4/5]

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

inline

Definition at line 59 of file strcat.hpp.

◆ StrCat() [5/5]

template<typename... AV>

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

inline

Definition at line 68 of file strcat.hpp.

◆ toConstStr()

const char* BT::toConstStr ( NodeType type )

Definition at line 30 of file bt_minitrace_logger.cpp.

◆ toStr() [1/3]

template<typename T >

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

Definition at line 141 of file basic_types.h.

◆ toStr() [2/3]

std::string BT::toStr ( std::string value )

Definition at line 25 of file basic_types.cpp.

◆ toStr() [3/3]

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

toStr converts NodeStatus to string. Optionally colored.

Definition at line 30 of file basic_types.cpp.

◆ toStr< BT::NodeStatus >()

template<>

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

◆ toStr< BT::NodeType >()

template<>

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

toStr converts NodeType to string.

◆ toStr< BT::PortDirection >()

template<>

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

◆ toStr< NodeStatus >()

template<>

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

Definition at line 9 of file basic_types.cpp.

◆ toStr< NodeType >()

template<>

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

Definition at line 77 of file basic_types.cpp.

◆ toStr< PortDirection >()

template<>

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

Definition at line 62 of file basic_types.cpp.

◆ VerifyXML() [1/2]

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

◆ VerifyXML() [2/2]

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

Definition at line 235 of file xml_parsing.cpp.

◆ writeTreeNodesModelXML()

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

Definition at line 791 of file xml_parsing.cpp.

Variable Documentation

◆ PLUGIN_SYMBOL

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

Definition at line 115 of file bt_factory.h.

◆ ReservedPortNames

const std::unordered_set<std::string> BT::ReservedPortNames = {"ID", "name", "_description"}

Definition at line 219 of file basic_types.h.

◆ StrEqual

auto BT::StrEqual

Initial value:

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

Definition at line 45 of file xml_parsing.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ Duration

◆ enable_if

◆ enable_if_not

◆ has_default_constructor

◆ has_params_constructor

◆ NodeBuilder

◆ Optional

◆ PortsList

◆ PortsRemapping

◆ Result

◆ SerializedTransition

◆ SerializedTreeStatus

◆ StringConverter

◆ StringConvertersMap

◆ StringView

◆ TimePoint

Enumeration Type Documentation

◆ NodeStatus

◆ NodeType

◆ PortDirection

◆ TimestampType

Function Documentation

◆ applyRecursiveVisitor() [1/2]

◆ applyRecursiveVisitor() [2/2]

◆ assignDefaultRemapping()

◆ BidirectionalPort() [1/2]

◆ BidirectionalPort() [2/2]

◆ buildSerializedStatusSnapshot() [1/2]

◆ buildSerializedStatusSnapshot() [2/2]

◆ buildTreeFromFile()

◆ buildTreeFromText()

◆ convertFromString() [1/4]

◆ convertFromString() [2/4]

◆ convertFromString() [3/4]

◆ convertFromString() [4/4]

◆ convertFromString< bool >()

◆ convertFromString< const char * >()

◆ convertFromString< double >()

◆ convertFromString< float >()

◆ convertFromString< int >()

◆ convertFromString< long >()

◆ convertFromString< NodeStatus >()

◆ convertFromString< NodeType >()

◆ convertFromString< PortDirection >()

◆ convertFromString< std::string >()

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

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

◆ convertFromString< unsigned >()

◆ convertFromString< unsigned long >()

◆ convertToFlatbuffers() [1/3]

◆ convertToFlatbuffers() [2/3]

◆ convertToFlatbuffers() [3/3]

◆ CreateBuilder() [1/3]

◆ CreateBuilder() [2/3]

◆ CreateBuilder() [3/3]

◆ CreateFlatbuffersBehaviorTree()

◆ CreateManifest()

◆ CreatePort()

◆ demangle() [1/3]

◆ demangle() [2/3]

◆ demangle() [3/3]

◆ demangle_alloc()

◆ demangle_free()

◆ GetAnyFromStringFunctor()

◆ GetAnyFromStringFunctor< void >()

◆ getProvidedPorts() [1/2]

◆ getProvidedPorts() [2/2]

◆ getType()

◆ getUID()

◆ InputPort() [1/2]

◆ InputPort() [2/2]

◆ IsSame() [1/2]