Behavior tree parallel node inherited from CompositeNode. More...

#include <behavior_node.h>

Inheritance diagram for roborts_decision::ParallelNode:

Public Member Functions
	ParallelNode (std::string name, const Blackboard::Ptr &blackboard_ptr, unsigned int threshold)
	Constructor of ParallelNode. More...

virtual	~ParallelNode ()=default

Public Member Functions inherited from roborts_decision::CompositeNode
	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 void	OnInitialize ()
	Initialize something before starting to tick the node. More...

virtual BehaviorState	Update ()
	Tick the node and update the state of the behavior node. More...

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

Protected Attributes
std::vector< bool >	children_node_done_
	a list of result checker flags for each child node More...

unsigned int	success_count_
	the current number of child nodes with success behavior state More...

unsigned int	failure_count_
	the current number of child nodes with failure behavior state More...

unsigned int	threshold_
	the number of child nodes with success behavior state to determine success of the parallel node More...

Protected Attributes inherited from roborts_decision::CompositeNode
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 parallel node inherited from CompositeNode.

Constructor & Destructor Documentation

◆ ParallelNode()

roborts_decision::ParallelNode::ParallelNode	(	std::string	name,
		const Blackboard::Ptr &	blackboard_ptr,
		unsigned int	threshold
	)

inline

Constructor of ParallelNode.

Parameters

name	Name of the behavior node
blackboard_ptr	Blackboard of the behavior node
threshold	Threshold number of child nodes to determine behavior state of success

◆ ~ParallelNode()

virtual roborts_decision::ParallelNode::~ParallelNode ( )

virtualdefault

Member Function Documentation

◆ OnInitialize()

virtual void roborts_decision::ParallelNode::OnInitialize ( )

inlineprotectedvirtual

Initialize something before starting to tick the node.

Initialize and reset the success and failure count of each child node

Implements roborts_decision::CompositeNode.

◆ OnTerminate()

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

inlineprotectedvirtual

Recover or reset something After getting the result.

Parameters

state Input behavior state

Implements roborts_decision::CompositeNode.

◆ Update()

virtual BehaviorState roborts_decision::ParallelNode::Update ( )

inlineprotectedvirtual

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

Returns: the state of the behavior node

Implements roborts_decision::CompositeNode.

Member Data Documentation

◆ children_node_done_

std::vector<bool> roborts_decision::ParallelNode::children_node_done_

protected

a list of result checker flags for each child node

◆ failure_count_

unsigned int roborts_decision::ParallelNode::failure_count_

protected

the current number of child nodes with failure behavior state

◆ success_count_

unsigned int roborts_decision::ParallelNode::success_count_

protected

the current number of child nodes with success behavior state

◆ threshold_

unsigned int roborts_decision::ParallelNode::threshold_

protected

the number of child nodes with success behavior state to determine success of the parallel node

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

◆ ParallelNode()

◆ ~ParallelNode()

Member Function Documentation

◆ OnInitialize()

◆ OnTerminate()

◆ Update()

Member Data Documentation

◆ children_node_done_

◆ failure_count_

◆ success_count_

◆ threshold_