#include <WsfAdvancedBehaviorTree.hpp>

Inheritance diagram for WsfAdvancedBehaviorTree:

Collaboration diagram for WsfAdvancedBehaviorTree:

Public Member Functions
	WsfAdvancedBehaviorTree (const WsfScenario &aScenario)
	WsfAdvancedBehaviorTree (const WsfAdvancedBehaviorTree &aSrc)
	~WsfAdvancedBehaviorTree () override=default
WsfAdvancedBehaviorTree &	operator= (const WsfAdvancedBehaviorTree &aRhs)=delete
void	AddBlackboard (const std::string &aName, std::shared_ptr< WsfAttributeContainer > aBlackboardPtr)
	Add a blackboard to the blackboard list.
WsfAdvancedBehaviorTree *	Clone () const override
	Clone this tree.
WsfAttributeContainer *	GetSharedBlackboard (const std::string &aName) const
	Get a blackboard with the specified name from the shared list.
std::vector< std::string >	GetSharedBlackboardNames () const
	Get a list of all shared blackboard names.
WsfSimulation *	GetSimulation ()
	Return a pointer to the simulation.
bool	Initialize (double aSimTime, WsfScriptProcessor aParentPtr, WsfScriptContext aParentContextPtr=nullptr)
	Initialize this tree.
const size_t	NodeCount () const
	Return a count of all leaf nodes.
const unsigned int &	GetTreeId () const
	Get the id of this tree.
const std::string &	GetName () const
	Get the name of this tree.
WsfAdvancedBehaviorTreeActionNode *	NodeEntry (size_t aIndex) const
	Returns an action node at an index.
WsfScriptProcessor *	GetParentProcessor () const
	Return a pointer to the parent processor of this tree.
bool	ProcessInput (UtInput &aInput) override
	Process input from a script.
void	RegisterActionNode (WsfAdvancedBehaviorTreeActionNode *aNodePtr)
	Register an action node in our list, for easier tracking and updating in the processor.
std::shared_ptr< WsfAdvancedBehaviorTreeCompositeNode >	RootNode () const
	Return a shared pointer to the root node of this tree.
const bool	SharedBlackboardExists (const std::string &aName) const
	Get if a blackboard with the specified name exists in the shared list.
void	SetShouldOutputNextTick (const bool aValue)
	Set if the tree should output node values to the event pipe next tick.
bool	Tick (double aSimTime)
	Tick(update) the tree.
WsfAdvancedBehaviorTreeNode *	FindNode (const std::string &aNodeName) const
	Find and return a pointer to the node with a given name.
void	FindLastExecuted (std::vector< WsfAdvancedBehaviorTreeNode * > &aLastExecuted) const
	Fill a given vector with pointers to nodes that executed last tick.
WsfPlatform *	GetOwningPlatform () const
	Return a pointer to the owning platform of this tree.
const char *	GetScriptClassName () const override
	Return the script class name for this tree.
const WsfScriptContext &	GetScriptContext () const
	Returns a reference to the script context for this tree.
void	SetParent (WsfScriptProcessor *aParentPtr)
	Set the parent processor.
void	SetParentContext (WsfScriptContext *aParentContextPtr)
	Set the parent script context for this tree.
void	SetRootNodeClass ()
	Cast the root node to the composite node class set in the tree.
void	OutputTreeStructure (const double aSimTime)
	Output the structure of this tree to the event pipe.
void	OutputTreeState (const double aSimTime)
	Output the state of this tree to the event pipe.
void	SetSuccessPolicy (const BT::SuccessPolicy aPolicy)
	Set the success policy for this node.
void	SetThreshold (const unsigned int aThreshold)
	Set the threshold(number) of children that must succeed for this node to succeed.
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)

Static Public Member Functions
static unsigned int	GetUniqueTreeId ()
	Get a unique int id for this tree.
static void	Reset ()
	Reset the unique int counter.

Protected Member Functions
UtScriptContext *	GetScriptAccessibleContext () const override
	Return the context from the script.
bool	RegisterExternVariable (const std::string &aVariableType, const std::string &aVariableName)
	Register an external variable.
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).

Additional Inherited Members
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.

Constructor & Destructor Documentation

◆ WsfAdvancedBehaviorTree() [1/2]

WsfAdvancedBehaviorTree::WsfAdvancedBehaviorTree ( const WsfScenario & aScenario )

References GetScriptContext(), GetUniqueTreeId(), RegisterExternVariable(), WsfObject::SetName(), and WsfObject::SetType().

Referenced by Clone(), operator=(), and WsfAdvancedBehaviorTree().

◆ WsfAdvancedBehaviorTree() [2/2]

WsfAdvancedBehaviorTree::WsfAdvancedBehaviorTree ( const WsfAdvancedBehaviorTree & aSrc )

References WsfObject::GetNameId(), WsfObject::GetTypeId(), GetUniqueTreeId(), WsfObject::SetName(), SetRootNodeClass(), WsfObject::SetType(), and WsfAdvancedBehaviorTree().

◆ ~WsfAdvancedBehaviorTree()

WsfAdvancedBehaviorTree::~WsfAdvancedBehaviorTree ( )

overridedefault

Member Function Documentation

◆ AddBlackboard()

void WsfAdvancedBehaviorTree::AddBlackboard	(	const std::string &	aName,
		std::shared_ptr< WsfAttributeContainer >	aBlackboardPtr )

Add a blackboard to the blackboard list.

Parameters

aName	name to reference blackboard with.
aBlackboardPtr	blackboard to add.

Referenced by operator=().

◆ Clone()

WsfAdvancedBehaviorTree * WsfAdvancedBehaviorTree::Clone ( ) const

overridevirtual

Clone this tree.

Implements WsfObject.

References WsfAdvancedBehaviorTree().

◆ FindLastExecuted()

void WsfAdvancedBehaviorTree::FindLastExecuted ( std::vector< WsfAdvancedBehaviorTreeNode * > & aLastExecuted ) const

Fill a given vector with pointers to nodes that executed last tick.

Parameters

aLastExecuted vector to fill.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ FindNode()

WsfAdvancedBehaviorTreeNode * WsfAdvancedBehaviorTree::FindNode ( const std::string & aNodeName ) const

Find and return a pointer to the node with a given name.

Parameters

aNodeName name of the node to find.

Referenced by UT_DEFINE_SCRIPT_METHOD(), and UT_DEFINE_SCRIPT_METHOD().

◆ GetName()

const std::string & WsfAdvancedBehaviorTree::GetName ( ) const

inline

Get the name of this tree.

◆ GetOwningPlatform()

WsfPlatform * WsfAdvancedBehaviorTree::GetOwningPlatform ( ) const

Return a pointer to the owning platform of this tree.

References WsfScriptContext::GetPLATFORM().

Referenced by WsfAdvancedBehaviorTreeNode::GetOwningPlatform().

◆ GetParentProcessor()

WsfScriptProcessor * WsfAdvancedBehaviorTree::GetParentProcessor ( ) const

inline

Return a pointer to the parent processor of this tree.

Referenced by WsfAdvancedBehaviorTreeNode::GetOwningProcessor().

◆ GetScriptAccessibleContext()

UtScriptContext * WsfAdvancedBehaviorTree::GetScriptAccessibleContext ( ) const

overrideprotected

Return the context from the script.

References WsfPlatform::GetContext().

◆ GetScriptClassName()

const char * WsfAdvancedBehaviorTree::GetScriptClassName ( ) const

override

Return the script class name for this tree.

◆ GetScriptContext()

const WsfScriptContext & WsfAdvancedBehaviorTree::GetScriptContext ( ) const

inline

Returns a reference to the script context for this tree.

Referenced by WsfAdvancedBehaviorTree().

◆ GetSharedBlackboard()

WsfAttributeContainer * WsfAdvancedBehaviorTree::GetSharedBlackboard ( const std::string & aName ) const

Get a blackboard with the specified name from the shared list.

Parameters

aName name of the blackboard to get

References SharedBlackboardExists().

Referenced by operator=(), and UT_DEFINE_SCRIPT_METHOD().

◆ GetSharedBlackboardNames()

std::vector< std::string > WsfAdvancedBehaviorTree::GetSharedBlackboardNames ( ) const

Get a list of all shared blackboard names.

Referenced by operator=().

◆ GetSimulation()

WsfSimulation * WsfAdvancedBehaviorTree::GetSimulation ( )

Return a pointer to the simulation.

References WsfSimulation::GetScriptContext(), and WsfScriptContext::GetSimulation().

Referenced by operator=(), OutputTreeState(), and OutputTreeStructure().

◆ GetTreeId()

const unsigned int & WsfAdvancedBehaviorTree::GetTreeId ( ) const

inline

Get the id of this tree.

◆ GetUniqueTreeId()

unsigned int WsfAdvancedBehaviorTree::GetUniqueTreeId ( )

inlinestatic

Get a unique int id for this tree.

Referenced by WsfAdvancedBehaviorTree(), and WsfAdvancedBehaviorTree().

◆ Initialize()

bool WsfAdvancedBehaviorTree::Initialize	(	double	aSimTime,
		WsfScriptProcessor *	aParentPtr,
		WsfScriptContext *	aParentContextPtr = nullptr )

Initialize this tree.

Parameters

aSimTime	sim time at initialization.
aParentPtr	pointer to the parent script processor.
aParentContextPtr	pointer to the parent script context.

References OutputTreeStructure(), and WsfScriptContext::SetParent().

Referenced by operator=().

◆ NodeCount()

const size_t WsfAdvancedBehaviorTree::NodeCount ( ) const

inline

Return a count of all leaf nodes.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ NodeEntry()

WsfAdvancedBehaviorTreeActionNode * WsfAdvancedBehaviorTree::NodeEntry ( size_t aIndex ) const

Returns an action node at an index.

Parameters

aIndex index of node to retrieve.

Referenced by UT_DEFINE_SCRIPT_METHOD().

◆ operator=()

WsfAdvancedBehaviorTree & WsfAdvancedBehaviorTree::operator= ( const WsfAdvancedBehaviorTree & aRhs )

delete

References AddBlackboard(), GetSharedBlackboard(), GetSharedBlackboardNames(), GetSimulation(), Initialize(), and WsfAdvancedBehaviorTree().

◆ OutputTreeState()

void WsfAdvancedBehaviorTree::OutputTreeState ( const double aSimTime )

Output the state of this tree to the event pipe.

Parameters

aSimTime time at output.

References WsfObserver::AdvancedBehaviorTreeState(), and GetSimulation().

◆ OutputTreeStructure()

void WsfAdvancedBehaviorTree::OutputTreeStructure ( const double aSimTime )

Output the structure of this tree to the event pipe.

Parameters

aSimTime time at output.

References WsfObserver::AdvancedBehaviorTree(), and GetSimulation().

Referenced by Initialize().

◆ ProcessInput()

bool WsfAdvancedBehaviorTree::ProcessInput ( UtInput & aInput )

overridevirtual

Process input from a script.

Parameters

aInput input to parse.

Reimplemented from WsfObject.

References WsfAdvancedBehaviorTreeNode::SetFilePath().

◆ RegisterActionNode()

void WsfAdvancedBehaviorTree::RegisterActionNode ( WsfAdvancedBehaviorTreeActionNode * aNodePtr )

Register an action node in our list, for easier tracking and updating in the processor.

Parameters

aNodePtr node to register.

◆ RegisterExternVariable()

bool WsfAdvancedBehaviorTree::RegisterExternVariable	(	const std::string &	aVariableType,
		const std::string &	aVariableName )

protected

Register an external variable.

Parameters

aVariableType	variable type to register.
aVariableName	name of the variable.

References RegisterExternVariable().

Referenced by RegisterExternVariable(), and WsfAdvancedBehaviorTree().

◆ Reset()

void WsfAdvancedBehaviorTree::Reset ( )

inlinestatic

Reset the unique int counter.

◆ RootNode()

std::shared_ptr< WsfAdvancedBehaviorTreeCompositeNode > WsfAdvancedBehaviorTree::RootNode ( ) const

inline

Return a shared pointer to the root node of this tree.

Referenced by WsfAdvancedBehaviorTreeNode::SetExecuteTooltip(), and WsfAdvancedBehaviorTreeNode::SetPreconditionTooltip().

◆ SetParent()

void WsfAdvancedBehaviorTree::SetParent ( WsfScriptProcessor * aParentPtr )

inline

Set the parent processor.

Parameters

aParentPtr parent to set.

◆ SetParentContext()

void WsfAdvancedBehaviorTree::SetParentContext ( WsfScriptContext * aParentContextPtr )

inline

Set the parent script context for this tree.

Parameters

aParentContextPtr parent context to set.

◆ SetRootNodeClass()

void WsfAdvancedBehaviorTree::SetRootNodeClass ( )

Cast the root node to the composite node class set in the tree.

References BT::cON_FAILURE, and BT::cON_SUCCESS.

Referenced by WsfAdvancedBehaviorTree().

◆ SetShouldOutputNextTick()

void WsfAdvancedBehaviorTree::SetShouldOutputNextTick ( const bool aValue )

inline

Set if the tree should output node values to the event pipe next tick.

Parameters

aValue value to set.

Referenced by WsfAdvancedBehaviorTreeNode::SetNodeStatus().

◆ SetSuccessPolicy()

void WsfAdvancedBehaviorTree::SetSuccessPolicy ( const BT::SuccessPolicy aPolicy )

inline

Set the success policy for this node.

Parameters

aPolicy policy to use when evaluating for success

◆ SetThreshold()

void WsfAdvancedBehaviorTree::SetThreshold ( const unsigned int aThreshold )

inline

Set the threshold(number) of children that must succeed for this node to succeed.

Parameters

aThreshold the threshold that must be hit for this node to succeed.

◆ SharedBlackboardExists()

const bool WsfAdvancedBehaviorTree::SharedBlackboardExists ( const std::string & aName ) const

Get if a blackboard with the specified name exists in the shared list.

Parameters

aName name of the blackboard to get

Referenced by GetSharedBlackboard().

◆ Tick()

bool WsfAdvancedBehaviorTree::Tick ( double aSimTime )

Tick(update) the tree.

Parameters

aSimTime sim time when this function is called.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ WsfAdvancedBehaviorTree() [1/2]

◆ WsfAdvancedBehaviorTree() [2/2]

◆ ~WsfAdvancedBehaviorTree()

Member Function Documentation

◆ AddBlackboard()

◆ Clone()

◆ FindLastExecuted()

◆ FindNode()

◆ GetName()

◆ GetOwningPlatform()

◆ GetParentProcessor()

◆ GetScriptAccessibleContext()

◆ GetScriptClassName()

◆ GetScriptContext()

◆ GetSharedBlackboard()

◆ GetSharedBlackboardNames()

◆ GetSimulation()

◆ GetTreeId()

◆ GetUniqueTreeId()

◆ Initialize()

◆ NodeCount()

◆ NodeEntry()

◆ operator=()

◆ OutputTreeState()

◆ OutputTreeStructure()

◆ ProcessInput()

◆ RegisterActionNode()

◆ RegisterExternVariable()

◆ Reset()

◆ RootNode()

◆ SetParent()

◆ SetParentContext()

◆ SetRootNodeClass()

◆ SetShouldOutputNextTick()

◆ SetSuccessPolicy()

◆ SetThreshold()

◆ SharedBlackboardExists()

◆ Tick()