The ControlNode is the base class for nodes that can have multiple children. More...

#include <control_node.h>

Inheritance diagram for BT::ControlNode:

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Collaboration diagram for BT::ControlNode:

Public Member Functions
	ControlNode (const std::string &name, const NodeConfig &config)

	ControlNode (const ControlNode &)=delete

ControlNode &	operator= (const ControlNode &)=delete

	ControlNode (ControlNode &&)=delete

ControlNode &	operator= (ControlNode &&)=delete

void	addChild (TreeNode *child)
	The method used to add nodes to the children vector.

size_t	childrenCount () const

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

const TreeNode *	child (size_t index) const

virtual void	halt () override

void	haltChildren ()
	same as resetChildren()

void	haltChildren (size_t first)

void	haltChild (size_t i)

virtual NodeType	type () const override final

void	resetChildren ()

Public Member Functions inherited from BT::TreeNode
	TreeNode (std::string name, NodeConfig config)
	TreeNode main constructor.

	TreeNode (const TreeNode &other)=delete

TreeNode &	operator= (const TreeNode &other)=delete

	TreeNode (TreeNode &&other) noexcept

TreeNode &	operator= (TreeNode &&other) noexcept

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

void	haltNode ()

bool	isHalted () const

NodeStatus	status () const

const std::string &	name () const
	Name of the instance, not the type.

BT::NodeStatus	waitValidStatus ()

virtual NodeType	type () const =0

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.

void	setPreTickFunction (PreTickCallback callback)

void	setPostTickFunction (PostTickCallback callback)

void	setTickMonitorCallback (TickMonitorCallback callback)

uint16_t	UID () const

const std::string &	fullPath () const

const std::string &	registrationName () const
	registrationName is the ID used by BehaviorTreeFactory to create an instance.

const NodeConfig &	config () const

template<typename T >
Result	getInput (const std::string &key, T &destination) const

template<typename T >
Expected< Timestamp >	getInputStamped (const std::string &key, T &destination) const
	getInputStamped is similar to getInput(dey, destination), but it returns also the Timestamp object, that can be used to check if a value was updated and when.

template<typename T >
Expected< T >	getInput (const std::string &key) const

template<typename T >
Expected< StampedValue< T > >	getInputStamped (const std::string &key) const

template<typename T >
Result	setOutput (const std::string &key, const T &value)
	setOutput modifies the content of an Output port

AnyPtrLocked	getLockedPortContent (const std::string &key)
	getLockedPortContent should be used when:

StringView	getRawPortValue (const std::string &key) const

void	emitWakeUpSignal ()
	Notify that the tree should be ticked again()

bool	requiresWakeUp () const

Protected Attributes
std::vector< TreeNode * >	children_nodes_

Additional Inherited Members
Public Types inherited from BT::TreeNode
typedef std::shared_ptr< TreeNode >	Ptr

using	StatusChangeSignal = Signal< TimePoint, const TreeNode &, NodeStatus, NodeStatus >

using	StatusChangeSubscriber = StatusChangeSignal::Subscriber

using	StatusChangeCallback = StatusChangeSignal::CallableFunction

using	PreTickCallback = std::function< NodeStatus(TreeNode &)>

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

using	TickMonitorCallback = std::function< void(TreeNode &, NodeStatus, std::chrono::microseconds)>

Static Public Member Functions inherited from BT::TreeNode
static bool	isBlackboardPointer (StringView str, StringView *stripped_pointer=nullptr)
	Check a string and return true if it matches the pattern: {...}.

static StringView	stripBlackboardPointer (StringView str)

static Expected< StringView >	getRemappedKey (StringView port_name, StringView remapped_port)

template<class DerivedT , typename... ExtraArgs>
static std::unique_ptr< TreeNode >	Instantiate (const std::string &name, const NodeConfig &config, ExtraArgs... args)

Protected Types inherited from BT::TreeNode
using	PreScripts = std::array< ScriptFunction, size_t(PreCond::COUNT_)>

using	PostScripts = std::array< ScriptFunction, size_t(PostCond::COUNT_)>

Protected Member Functions inherited from BT::TreeNode
NodeConfig &	config ()

virtual BT::NodeStatus	tick ()=0
	Method to be implemented by the user.

void	resetStatus ()
	Set the status to IDLE.

void	setRegistrationID (StringView ID)

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

void	modifyPortsRemapping (const PortsRemapping &new_remapping)

void	setStatus (NodeStatus new_status)
	setStatus changes the status of the node. it will throw if you try to change the status to IDLE, because your parent node should do that, not the user!

PreScripts &	preConditionsScripts ()

PostScripts &	postConditionsScripts ()

template<typename T >
T	parseString (const std::string &str) const

Detailed Description

The ControlNode is the base class for nodes that can have multiple children.

ControlNodes determine the order and conditions under which their children are ticked.

Each derived class implements specific rules about if, when, and how many times children are ticked.

Member Function Documentation

◆ halt()

virtual void BT::ControlNode::halt ( )

overridevirtual

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

Implements BT::TreeNode.

Reimplemented in BT::FallbackNode, BT::IfThenElseNode, BT::ManualSelectorNode, BT::ParallelAllNode, BT::ParallelNode, BT::SequenceNode, BT::SequenceWithMemory, BT::SwitchNode< NUM_CASES >, BT::TryCatchNode, and BT::WhileDoElseNode.

◆ resetChildren()

void BT::ControlNode::resetChildren ( )

Set the status of all children to IDLE. also send a halt() signal to all RUNNING children

◆ type()

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

inlinefinaloverridevirtual

Implements BT::TreeNode.

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

include/behaviortree_cpp/control_node.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ halt()

◆ resetChildren()

◆ type()