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

#include <bt_factory.h>

Collaboration diagram for BT::Tree:

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Public Member Functions
	Tree (const Tree &)=delete

Tree &	operator= (const Tree &)=delete

	Tree (Tree &&other)=default

Tree &	operator= (Tree &&other)=default

void	initialize ()

void	haltTree ()

TreeNode *	rootNode () const

bool	sleep (std::chrono::system_clock::duration timeout)
	Sleep for a certain amount of time. This sleep could be interrupted by the methods TreeNode::emitWakeUpSignal() or Tree::emitWakeUpSignal()

void	emitWakeUpSignal ()
	Wake up the tree. This will interrupt the sleep() method.

std::shared_ptr< WakeUpSignal >	wakeUpSignal () const
	Returns the shared WakeUpSignal used by this tree. This can be used to check for preemption externally, e.g. when implementing custom sleep logic with a different clock source. Returns nullptr if the tree has not been initialized yet.

NodeStatus	tickExactlyOnce ()

NodeStatus	tickOnce ()
	by default, tickOnce() sends a single tick, BUT as long as there is at least one node of the tree invoking TreeNode::emitWakeUpSignal(), it will be ticked again.

NodeStatus	tickWhileRunning (std::chrono::milliseconds sleep_time=std::chrono::milliseconds(10))

Blackboard::Ptr	rootBlackboard ()

void	applyVisitor (const std::function< void(const TreeNode *)> &visitor) const

void	applyVisitor (const std::function< void(TreeNode *)> &visitor)

uint16_t	getUID ()

template<typename NodeType = BT::TreeNode>
std::vector< const TreeNode * >	getNodesByPath (StringView wildcard_filter) const

Public Attributes
std::vector< Subtree::Ptr >	subtrees

std::unordered_map< std::string, TreeNodeManifest >	manifests

Detailed Description

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

Member Function Documentation

template<typename NodeType = BT::TreeNode>

std::vector< const TreeNode * > BT::Tree::getNodesByPath ( StringView wildcard_filter ) const

inline

Get a list of nodes which fullPath() match a wildcard filter and a given path. Example:

move_nodes = tree.getNodesByPath<MoveBaseNode>("move_*");

bool BT::Tree::sleep ( std::chrono::system_clock::duration timeout )

Sleep for a certain amount of time. This sleep could be interrupted by the methods TreeNode::emitWakeUpSignal() or Tree::emitWakeUpSignal()

Parameters

timeout duration of the sleep

NodeStatus BT::Tree::tickExactlyOnce ( )

Tick the root of the tree once, even if a node invoked emitWakeUpSignal()

NodeStatus BT::Tree::tickWhileRunning ( std::chrono::milliseconds sleep_time = std::chrono::milliseconds(10) )

Call tickOnce until the status is different from RUNNING. Note that between one tick and the following one, a Tree::sleep() is used

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