Behavior tree base node. More...

#include <behavior_node.h>

Inheritance diagram for roborts_decision::BehaviorNode:

Public Types
typedef std::shared_ptr< BehaviorNode >	Ptr

Public Member Functions
	BehaviorNode ()

	BehaviorNode (std::string name, BehaviorType behavior_type, const Blackboard::Ptr &blackboard_ptr)
	Constructor of BehaviorNode. More...

virtual	~BehaviorNode ()=default

BehaviorState	Run ()
	Run the behavior node. More...

virtual void	Reset ()
	Reset the behavior node. More...

BehaviorType	GetBehaviorType ()
	Get the type of the behavior node. More...

BehaviorState	GetBehaviorState ()
	Get the state of the behavior node. More...

std::string	GetName ()
	Get the name of the behavior node. More...

void	SetParent (BehaviorNode::Ptr parent_node_ptr)
	Set the parent of the behavior node. More...

BehaviorNode::Ptr	GetParent ()
	Get the parent node of the behavior node. More...

virtual BehaviorNode::Ptr	GetChild ()
	Get the child node of the behavior node. More...

unsigned int	GetLevel ()
	Get the level of the behavior node. More...

void	SetLevel (unsigned int level)
	Set the level of the behavior node. More...

Protected Member Functions
virtual BehaviorState	Update ()=0
	Tick the node and update the state of the behavior node. More...

virtual void	OnInitialize ()=0
	Initialize something before starting to tick the node. More...

virtual void	OnTerminate (BehaviorState state)=0
	Recover or reset something After getting the result. More...

Protected Attributes
std::string	name_
	Node name. More...

BehaviorState	behavior_state_
	State. More...

BehaviorType	behavior_type_
	Type. More...

Blackboard::Ptr	blackboard_ptr_
	Blackboard. More...

BehaviorNode::Ptr	parent_node_ptr_
	Parent Node Pointer. More...

unsigned int	level_
	Level of the tree. More...

Detailed Description

Behavior tree base node.

@brif Abort Type of behavior tree precondition node

For more information refer to https://docs.unrealengine.com/en-us/Engine/AI/BehaviorTrees/NodeReference/Decorators

Member Typedef Documentation

◆ Ptr

typedef std::shared_ptr<BehaviorNode> roborts_decision::BehaviorNode::Ptr

Constructor & Destructor Documentation

◆ BehaviorNode() [1/2]

roborts_decision::BehaviorNode::BehaviorNode ( )

inline

◆ BehaviorNode() [2/2]

roborts_decision::BehaviorNode::BehaviorNode	(	std::string	name,
		BehaviorType	behavior_type,
		const Blackboard::Ptr &	blackboard_ptr
	)

inline

Constructor of BehaviorNode.

Parameters

name	Name of the behavior node
behavior_type	Type of the behavior node
blackboard_ptr	Blackboard of the behavior node

◆ ~BehaviorNode()

virtual roborts_decision::BehaviorNode::~BehaviorNode ( )

virtualdefault

Member Function Documentation

◆ GetBehaviorState()

BehaviorState roborts_decision::BehaviorNode::GetBehaviorState ( )

inline

Get the state of the behavior node.

Returns: The state of the behavior node

◆ GetBehaviorType()

BehaviorType roborts_decision::BehaviorNode::GetBehaviorType ( )

inline

Get the type of the behavior node.

Returns: The type of the behavior node

◆ GetChild()

virtual BehaviorNode::Ptr roborts_decision::BehaviorNode::GetChild ( )

inlinevirtual

Get the child node of the behavior node.

Returns: The child node of the behavior node, for the base class it always returns nullptr

Reimplemented in roborts_decision::CompositeNode.

◆ GetLevel()

unsigned int roborts_decision::BehaviorNode::GetLevel ( )

inline

Get the level of the behavior node.

Returns: The level of the behavior node

◆ GetName()

std::string roborts_decision::BehaviorNode::GetName ( )

inline

Get the name of the behavior node.

Returns: The name of the behavior node

◆ GetParent()

BehaviorNode::Ptr roborts_decision::BehaviorNode::GetParent ( )

inline

Get the parent node of the behavior node.

Returns: The parent node of the behavior node

◆ OnInitialize()

virtual void roborts_decision::BehaviorNode::OnInitialize ( )

protectedpure virtual

Initialize something before starting to tick the node.

Implemented in roborts_decision::CompositeNode, roborts_decision::ParallelNode, and roborts_decision::SelectorNode.

◆ OnTerminate()

virtual void roborts_decision::BehaviorNode::OnTerminate ( BehaviorState state )

protectedpure virtual

Recover or reset something After getting the result.

Parameters

state Input behavior state

Implemented in roborts_decision::CompositeNode, roborts_decision::ParallelNode, and roborts_decision::SelectorNode.

◆ Reset()

virtual void roborts_decision::BehaviorNode::Reset ( )

inlinevirtual

Reset the behavior node.

manually invoke the IDLE terminate function when the node is in running status

◆ Run()

BehaviorState roborts_decision::BehaviorNode::Run ( )

inline

Run the behavior node.

Roughly including 3 process

OnInitilaize: Initialize or reset some variables, when tick the node that is not running.
Update: Update and feedback the behavior state.
OnTerminate: Reset or recover after getting the result.
Returns
Behavior state

◆ SetLevel()

void roborts_decision::BehaviorNode::SetLevel ( unsigned int level )

inline

Set the level of the behavior node.

Parameters

level The expected level of the behavior node

◆ SetParent()

void roborts_decision::BehaviorNode::SetParent ( BehaviorNode::Ptr parent_node_ptr )

inline

Set the parent of the behavior node.

Parameters

parent_node_ptr

◆ Update()

virtual BehaviorState roborts_decision::BehaviorNode::Update ( )

protectedpure virtual

Tick the node and update the state of the behavior node.

Returns: the state of the behavior node

Implemented in roborts_decision::CompositeNode, roborts_decision::ParallelNode, and roborts_decision::SelectorNode.

Member Data Documentation

◆ behavior_state_

BehaviorState roborts_decision::BehaviorNode::behavior_state_

protected

State.

◆ behavior_type_

BehaviorType roborts_decision::BehaviorNode::behavior_type_

protected

Type.

◆ blackboard_ptr_

Blackboard::Ptr roborts_decision::BehaviorNode::blackboard_ptr_

protected

Blackboard.

◆ level_

unsigned int roborts_decision::BehaviorNode::level_

protected

Level of the tree.

◆ name_

std::string roborts_decision::BehaviorNode::name_

protected

Node name.

◆ parent_node_ptr_

BehaviorNode::Ptr roborts_decision::BehaviorNode::parent_node_ptr_

protected

Parent Node Pointer.

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

src/ICRA-Firefly-RoboRTS/roborts_decision/behavior_tree/behavior_node.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ BehaviorNode() [1/2]

◆ BehaviorNode() [2/2]

◆ ~BehaviorNode()

Member Function Documentation

◆ GetBehaviorState()

◆ GetBehaviorType()

◆ GetChild()

◆ GetLevel()

◆ GetName()

◆ GetParent()

◆ OnInitialize()

◆ OnTerminate()

◆ Reset()

◆ Run()

◆ SetLevel()

◆ SetParent()

◆ Update()

Member Data Documentation

◆ behavior_state_

◆ behavior_type_

◆ blackboard_ptr_

◆ level_

◆ name_

◆ parent_node_ptr_