Behavior tree composite node inherited from BehaviorNode. More...

#include <behavior_node.h>

Inheritance diagram for roborts_decision::CompositeNode:

Public Member Functions
	CompositeNode (std::string name, BehaviorType behavior_type, const Blackboard::Ptr &blackboard_ptr)
	Constructor of CompositeNode. More...

virtual	~CompositeNode ()=default

virtual void	AddChildren (const BehaviorNode::Ptr &child_node_ptr)
	Add child behavior node to the composite node. More...

virtual void	AddChildren (std::initializer_list< BehaviorNode::Ptr > child_node_ptr_list)
	Add a list of child behavior nodes to the composite node. More...

virtual BehaviorNode::Ptr	GetChild ()
	Get the child behavior node that it is turn to tick. More...

std::vector< BehaviorNode::Ptr > &	GetChildren ()
	Get the list of child behavior nodes. More...

unsigned int	GetChildrenIndex ()
	Get the index of the child behavior node that it is turn to tick. More...

unsigned int	GetChildrenNum ()
	Get the number of child behavior nodes. More...

Public Member Functions inherited from roborts_decision::BehaviorNode
	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...

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::vector< BehaviorNode::Ptr >	children_node_ptr_
	the list of child nodes More...

unsigned int	children_node_index_
	the index of child nodes More...

Protected Attributes inherited from roborts_decision::BehaviorNode
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...

Additional Inherited Members
Public Types inherited from roborts_decision::BehaviorNode
typedef std::shared_ptr< BehaviorNode >	Ptr

Detailed Description

Behavior tree composite node inherited from BehaviorNode.

Constructor & Destructor Documentation

◆ CompositeNode()

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

inline

Constructor of CompositeNode.

Parameters

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

◆ ~CompositeNode()

virtual roborts_decision::CompositeNode::~CompositeNode ( )

virtualdefault

Member Function Documentation

◆ AddChildren() [1/2]

virtual void roborts_decision::CompositeNode::AddChildren ( const BehaviorNode::Ptr & child_node_ptr )

inlinevirtual

Add child behavior node to the composite node.

Parameters

child_node_ptr The expected child behavior node

◆ AddChildren() [2/2]

virtual void roborts_decision::CompositeNode::AddChildren ( std::initializer_list< BehaviorNode::Ptr > child_node_ptr_list )

inlinevirtual

Add a list of child behavior nodes to the composite node.

Parameters

child_node_ptr A list of the expected child behavior nodes

◆ GetChild()

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

inlinevirtual

Get the child behavior node that it is turn to tick.

Returns: The child behavior node

Reimplemented from roborts_decision::BehaviorNode.

◆ GetChildren()

std::vector<BehaviorNode::Ptr>& roborts_decision::CompositeNode::GetChildren ( )

inline

Get the list of child behavior nodes.

Returns: The list of child behavior nodes

◆ GetChildrenIndex()

unsigned int roborts_decision::CompositeNode::GetChildrenIndex ( )

inline

Get the index of the child behavior node that it is turn to tick.

Returns: The index of the child behavior node that it is turn to tick

◆ GetChildrenNum()

unsigned int roborts_decision::CompositeNode::GetChildrenNum ( )

inline

Get the number of child behavior nodes.

Returns: The number of child behavior nodes

◆ OnInitialize()

virtual void roborts_decision::CompositeNode::OnInitialize ( )

protectedpure virtual

Initialize something before starting to tick the node.

Implements roborts_decision::BehaviorNode.

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

◆ OnTerminate()

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

protectedpure virtual

Recover or reset something After getting the result.

Parameters

state Input behavior state

Implements roborts_decision::BehaviorNode.

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

◆ Update()

virtual BehaviorState roborts_decision::CompositeNode::Update ( )

protectedpure virtual

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

Returns: the state of the behavior node

Implements roborts_decision::BehaviorNode.

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

Member Data Documentation

◆ children_node_index_

unsigned int roborts_decision::CompositeNode::children_node_index_

protected

the index of child nodes

◆ children_node_ptr_

std::vector<BehaviorNode::Ptr> roborts_decision::CompositeNode::children_node_ptr_

protected

the list of child nodes

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CompositeNode()

◆ ~CompositeNode()

Member Function Documentation

◆ AddChildren() [1/2]

◆ AddChildren() [2/2]

◆ GetChild()

◆ GetChildren()

◆ GetChildrenIndex()

◆ GetChildrenNum()

◆ OnInitialize()

◆ OnTerminate()

◆ Update()

Member Data Documentation

◆ children_node_index_

◆ children_node_ptr_