BT::Tree Class Reference

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:

Classes
struct	Subtree

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.
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

Friends
class	BehaviorTreeFactory

Detailed Description

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

Member Function Documentation

getNodesByPath()

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_*");

sleep()

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

Returns

true if the timeout was NOT reached and the signal was received.

tickExactlyOnce()

NodeStatus BT::Tree::tickExactlyOnce

(

)

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

tickWhileRunning()

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

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

• include/behaviortree_cpp/bt_factory.h