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include/behaviortree_cpp_v3 Expand file tree Collapse file tree 2 files changed +22
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lines changed Original file line number Diff line number Diff line change @@ -86,9 +86,9 @@ int main()
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// Register the behavior tree definitions, but don't instantiate them, yet.
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// Order is not important.
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- factory.registerBehaviorTreeFromText ("main_tree.xml");
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- factory.registerBehaviorTreeFromText ("subtree_A.xml");
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- factory.registerBehaviorTreeFromText ("subtree_B.xml");
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+ factory.registerBehaviorTreeFromFile ("main_tree.xml");
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+ factory.registerBehaviorTreeFromFile ("subtree_A.xml");
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+ factory.registerBehaviorTreeFromFile ("subtree_B.xml");
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//Check that the BTs have been registered correctly
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std::cout << "Registered BehaviorTrees:" << std::endl;
Original file line number Diff line number Diff line change @@ -235,7 +235,11 @@ class BehaviorTreeFactory
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// / Remove a registered ID.
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bool unregisterBuilder (const std::string& ID);
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- // / The most generic way to register your own builder.
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+ /* * The most generic way to register a NodeBuilder.
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+ *
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+ * Throws if you try to register twice a builder with the same
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+ * registration_ID.
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+ */
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void registerBuilder (const TreeNodeManifest& manifest, const NodeBuilder& builder);
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template <typename T>
@@ -293,10 +297,24 @@ class BehaviorTreeFactory
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*/
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void registerFromROSPlugins ();
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+ /* *
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+ * @brief registerBehaviorTreeFromFile.
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+ * Load the definition of an entire behavior tree, but don't instantiate it.
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+ * You can instantiate it later with:
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+ *
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+ * BehaviorTreeFactory::createTree(tree_id)
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+ *
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+ * where "tree_id" come from the XML attribute <BehaviorTree ID="tree_id">
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+ *
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+ */
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void registerBehaviorTreeFromFile (const std::string& filename);
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+ // / Same of registerBehaviorTreeFromFile, but passing the XML text,
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+ // / instead of the filename.
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void registerBehaviorTreeFromText (const std::string& xml_text);
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+ // / Returns the ID of the trees registered either with
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+ // / registerBehaviorTreeFromFile or registerBehaviorTreeFromText.
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std::vector<std::string> registeredBehaviorTrees () const ;
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/* *
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