nav2_behavior_tree::BehaviorTreeEngine Class Reference

A class to create and handle behavior trees. More...

#include <nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp>

Public Member Functions
	BehaviorTreeEngine (const std::vector< std::string > &plugin_libraries)
	A constructor for nav2_behavior_tree::BehaviorTreeEngine. More...
BtStatus	run (BT::Tree *tree, std::function< void()> onLoop, std::function< bool()> cancelRequested, std::chrono::milliseconds loopTimeout=std::chrono::milliseconds(10))
	Function to execute a BT at a specific rate. More...
BT::Tree	createTreeFromText (const std::string &xml_string, BT::Blackboard::Ptr blackboard)
	Function to create a BT from a XML string. More...
BT::Tree	createTreeFromFile (const std::string &file_path, BT::Blackboard::Ptr blackboard)
	Function to create a BT from an XML file. More...
void	haltAllActions (BT::TreeNode *root_node)
	Function to explicitly reset all BT nodes to initial state. More...

Protected Attributes
BT::BehaviorTreeFactory	factory_

Detailed Description

A class to create and handle behavior trees.

Definition at line 43 of file behavior_tree_engine.hpp.

Constructor & Destructor Documentation

BehaviorTreeEngine()

nav2_behavior_tree::BehaviorTreeEngine::BehaviorTreeEngine ( const std::vector< std::string > &  plugin_libraries )

explicit

A constructor for nav2_behavior_tree::BehaviorTreeEngine.

Parameters

plugin_libraries

vector of BT plugin library names to load

Definition at line 28 of file behavior_tree_engine.cpp.

Member Function Documentation

createTreeFromFile()

BT::Tree nav2_behavior_tree::BehaviorTreeEngine::createTreeFromFile	(	const std::string &	file_path,
		BT::Blackboard::Ptr	blackboard
	)

Function to create a BT from an XML file.

Parameters

file_path	Path to BT XML file
blackboard	Blackboard for BT

Returns

BT::Tree Created behavior tree

Definition at line 85 of file behavior_tree_engine.cpp.

createTreeFromText()

BT::Tree nav2_behavior_tree::BehaviorTreeEngine::createTreeFromText	(	const std::string &	xml_string,
		BT::Blackboard::Ptr	blackboard
	)

Function to create a BT from a XML string.

Parameters

xml_string	XML string representing BT
blackboard	Blackboard for BT

Returns

BT::Tree Created behavior tree

Definition at line 77 of file behavior_tree_engine.cpp.

haltAllActions()

void nav2_behavior_tree::BehaviorTreeEngine::haltAllActions

(

BT::TreeNode *

root_node

)

Function to explicitly reset all BT nodes to initial state.

Parameters

root_node

Pointer to BT root node

Definition at line 94 of file behavior_tree_engine.cpp.

run()

BtStatus nav2_behavior_tree::BehaviorTreeEngine::run	(	BT::Tree *	tree,
		std::function< void()>	onLoop,
		std::function< bool()>	cancelRequested,
		std::chrono::milliseconds	loopTimeout = std::chrono::milliseconds(10)
	)

Function to execute a BT at a specific rate.

Parameters

tree	BT to execute
onLoop	Function to execute on each iteration of BT execution
cancelRequested	Function to check if cancel was requested during BT execution
loopTimeout	Time period for each iteration of BT execution

Returns

nav2_behavior_tree::BtStatus Status of BT execution

Definition at line 38 of file behavior_tree_engine.cpp.

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

• nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
• nav2_behavior_tree/src/behavior_tree_engine.cpp