Interface used for registering behavior tree node plugins. More...

Inheritance diagram for NodeRegistrationInterface:

Public Member Functions
virtual bool	requiresRosNodeContext () const =0
	Determine whether a valid instance of RosNodeContext is required for registering the behavior tree node associated with this instance.

virtual void	registerWithBehaviorTreeFactory (BT::BehaviorTreeFactory &factory, const std::string &registration_name, const RosNodeContext *const context_ptr=nullptr) const =0
	Register the node associated with this instance with a behavior tree factory.

Detailed Description

Interface used for registering behavior tree node plugins.

Member Function Documentation

virtual bool requiresRosNodeContext ( ) const

pure virtual

Determine whether a valid instance of RosNodeContext is required for registering the behavior tree node associated with this instance.

This method effectively allows to observe whether the underlying behavior tree node is a ROS 2 specific node or not.

Returns: true if you must pass a RosNodeContext instance to registerWithBehaviorTreeFactory, false otherwise.

virtual void registerWithBehaviorTreeFactory	(	BT::BehaviorTreeFactory &	factory,
		const std::string &	registration_name,
		const RosNodeContext *const	context_ptr = nullptr ) const

pure virtual

Register the node associated with this instance with a behavior tree factory.

Parameters

factory	Behavior tree factory instance.
registration_name	Type name under which this node is to be registered.
context_ptr	Optional pointer to a RosNodeContext required if the node to be registered is ROS 2 specific.

Exceptions

std::invalid_argument if node to be registered is ROS 2 specific but context_ptr was omitted.

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

auto_apms_behavior_tree_core/include/auto_apms_behavior_tree_core/node/node_registration_interface.hpp