SharedResourcesNodeLoaderBase Class

The SharedResourcesNodeLoaderBase class is a base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode. More...

Declaration

class moveit_pro::behaviors::SharedResourcesNodeLoaderBase { ... }

Included Headers

#include <shared_resources_node_loader.hpp>

Derived Classes

class	CoreBehaviorsLoader
class	MPCBehaviorsLoader
class	MTCCoreBehaviorsLoader
class	MujocoBehaviorsLoader
	Plugin loader for MuJoCo-related behaviors. More...
class	NavBehaviorsLoader
class	VisionBehaviorsLoader

Public Destructor Index

	~SharedResourcesNodeLoaderBase ()=default

Public Member Functions Index

void	registerBehaviors (BT::BehaviorTreeFactory &factory, const std::shared_ptr< BehaviorContext > &shared_resources)=0
	This function is called within the constructor of moveit_studio::behavior_server::BehaviorServerNode to register a set of Behaviors with the BehaviorServer's BT::BehaviorTreeFactory. More...

Description

The SharedResourcesNodeLoaderBase class is a base class for Behavior loader plugins that register Behaviors inheriting from SharedResourcesNode.

This allows us to write Behaviors that use constructors with signatures that are different from the normal signature of BehaviorTree.Cpp nodes, while still allowing the library responsible for creating the behavior tree to work without directly linking against Behavior libraries provided by downstream developers.

The approach used here is similar to the one outlined in Method 1 of Tutorial 8 in the BehaviorTree.Cpp repo: https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/docs/tutorial_08_additional_args.md#method-1-register-a-custom-builder

Definition at line 107 of file shared_resources_node_loader.hpp.

Public Destructor

~SharedResourcesNodeLoaderBase()

virtual moveit_pro::behaviors::SharedResourcesNodeLoaderBase::~SharedResourcesNodeLoaderBase ()

virtual default

Definition at line 118 of file shared_resources_node_loader.hpp.

Public Member Functions

registerBehaviors()

virtual void moveit_pro::behaviors::SharedResourcesNodeLoaderBase::registerBehaviors (BT::BehaviorTreeFactory & factory, const std::shared_ptr< BehaviorContext > & shared_resources)

This function is called within the constructor of moveit_studio::behavior_server::BehaviorServerNode to register a set of Behaviors with the BehaviorServer's BT::BehaviorTreeFactory.

Parameters

factory	The BehaviorServer's BT::BehaviorTreeFactory
shared_resources	The BehaviorServerNode's BehaviorContext.

Definition at line 116 of file shared_resources_node_loader.hpp.

---

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

• shared_resources_node_loader.hpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.