BehaviorResource Class Reference

Class containing behavior resource data. More...

#include <auto_apms_behavior_tree_core/behavior.hpp>

Inheritance diagram for BehaviorResource:

Public Member Functions
	BehaviorResourceTemplate (const Identity &search_identity)
	Assemble a behavior resource using a BehaviorResourceIdentity.
	BehaviorResourceTemplate (const std::string &search_identity)
	Assemble a behavior resource identified by a string.
	BehaviorResourceTemplate (const char *search_identity)
	Assemble a behavior tree resource identified by a string.
Public Member Functions inherited from BehaviorResourceTemplate< BehaviorResourceIdentity >
	BehaviorResourceTemplate (const Identity &search_identity)
	Assemble a behavior resource using a BehaviorResourceIdentity.
	BehaviorResourceTemplate (const std::string &search_identity)
	Assemble a behavior resource identified by a string.
	BehaviorResourceTemplate (const char *search_identity)
	Assemble a behavior tree resource identified by a string.
const Identity &	getIdentity () const
	Get the unique identity for this resource.
const std::string &	getBuildRequest () const
	Get the behavior build request associated with this resource.
const std::string &	getDefaultBuildHandlerName () const
	Get the fully qualified class name of the default build handler associated with this behavior resource.
const std::string &	getEntrypoint () const
	Get the entrypoint of this behavior resource.
const NodeManifest &	getNodeManifest () const
	Get the node manifest associated with this resource.

Additional Inherited Members
Static Public Member Functions inherited from BehaviorResourceTemplate< BehaviorResourceIdentity >
static BehaviorResourceTemplate	find (const std::string &behavior_alias, const std::string &package_name="", const std::string &category_name="")
	Find an installed behavior resource using a specific behavior tree name.

Detailed Description

Class containing behavior resource data.

Behavior resources are registered by calling the CMake macro auto_apms_behavior_tree_register_behavior in the CMakeLists.txt of a package. They can be discovered once the corresponding package has been installed to the ROS 2 workspace.

The user may refer to a specific resource using an identity string that may contain the tokens <category_name>, <package_name>, and <behavior_alias>. Depending on the number of registered resources, it might be convenient to use shorter, less precise signatures. The formatting is described below:

• <category_name>/<package_name>::<behavior_alias>

  Fully qualified identity string of a specific behavior tree.

• <package_name>::<behavior_alias> or /<package_name>::<behavior_alias>

  The category name is always optional. If omitted, the resource is searched in all categories.

• ::<behavior_alias> or <behavior_alias>

  Just like the category name, the package name is optional as well. If omitted, the resource is searched in all packages.

Note

The token <behavior_alias> is usually the stem of the file given to auto_apms_behavior_tree_register_behavior. However, it is also possible to provide raw strings as arguments (e.g. for referring to another resource). In this case, <behavior_alias> is determined to be the given string.

Usage

Given the user has specified a behavior using a YAML file, the CMake macro auto_apms_behavior_tree_register_behavior must be called in the CMakeLists.txt of the parent package (for example my_package) like this:

auto_apms_behavior_tree_register_behavior(
    "behavior/my_behavior.yaml"
)

The macro automatically installs the given file and makes it discoverable using the above mentioned identities. In the C++ source code, one may use this resource like this after the parent package my_package has been installed:

#include "auto_apms_behavior_tree_core/behavior.hpp"
 
using namespace auto_apms_behavior_tree;
 
// For example, use the fully qualified behavior resource identity signature
const std::string identity_string = "default/my_package::my_behavior";
 
// You may use the proxy class for a tree resource identity
core::BehaviorResourceIdentity identity(identity_string);
core::BehaviorResource resource(identity);
 
// Or instantiate the resource object directly from the corresponding identity string
core::BehaviorResource resource(identity_string);

Definition at line 276 of file behavior.hpp.

Member Function Documentation

BehaviorResourceTemplate() [1/3]

BehaviorResourceTemplate ( const Identity & search_identity )

inline

Assemble a behavior resource using a BehaviorResourceIdentity.

Parameters

search_identity

Behavior resource identity object used for searching the corresponding resource.

Exceptions

auto_apms_util::exceptions::ResourceError

if the resource cannot be found using the given identity.

Definition at line 130 of file behavior.hpp.

BehaviorResourceTemplate() [2/3]

BehaviorResourceTemplate ( const std::string & search_identity )

inline

Assemble a behavior resource identified by a string.

search_identity must be formatted like <category_name>/<package_name>::<behavior_alias>.

Parameters

search_identity

Behavior resource identity string used for searching the corresponding resource.

Exceptions

auto_apms_util::exceptions::ResourceIdentityFormatError	if the identity string has wrong format.
auto_apms_util::exceptions::ResourceError	if the resource cannot be found using the given identity string.

Definition at line 142 of file behavior.hpp.

BehaviorResourceTemplate() [3/3]

BehaviorResourceTemplate ( const char * search_identity )

inline

Assemble a behavior tree resource identified by a string.

search_identity must be formatted like <category_name>/<package_name>::<behavior_alias>.

Parameters

search_identity

C-style behavior resource identity string used for searching the corresponding resource.

Exceptions

auto_apms_util::exceptions::ResourceIdentityFormatError	if the identity string has wrong format.
auto_apms_util::exceptions::ResourceError	if the resource cannot be found using the given identity string.

Definition at line 154 of file behavior.hpp.

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

• auto_apms_behavior_tree_core/include/auto_apms_behavior_tree_core/behavior.hpp