parameter_override_registry.hpp File Reference

#include <cstddef>
#include <functional>
#include <mutex>
#include <stdexcept>
#include <string>
#include <string_view>
#include <typeindex>
#include <typeinfo>
#include <unordered_map>
#include <utility>
#include <vector>
#include <behaviortree_cpp/basic_types.h>
#include <behaviortree_cpp/blackboard.h>
#include <yaml-cpp/yaml.h>
#include <tl_expected/expected.hpp>
#include "moveit_pro_behavior_interface/json_serialization.hpp"

Include dependency graph for parameter_override_registry.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	moveit_pro::behavior::TransparentStringHash
class	moveit_pro::behavior::ParameterOverrideRegistry
	Thread-safe registry mapping a port C++ type to a parser that turns a YAML string into a typed BehaviorTree.CPP blackboard entry. More...

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behavior

Functions
std::string	moveit_pro::behavior::normalizeTypeName (std::string_view type_name)
	Normalize a C++ type spelling so the demangled form and a user-written form compare equal.
template<typename T >
tl::expected< BT::Any, std::string >	moveit_pro::behavior::parseParameterFromYaml (std::string_view yaml_string)
	Parse yaml_string into a value of type T wrapped in BT::Any.
template<typename T >
void	moveit_pro::behavior::registerParameterParser ()
	Register a YAML parser for type T without touching the blackboard-viewer JSON exporter.
template<typename Element >
tl::expected< BT::Any, std::string >	moveit_pro::behavior::parseVectorParameterFromYaml (std::string_view yaml_string)
	Parse yaml_string as a YAML sequence of Element into a type-erased std::vector<BT::Any> wrapped in BT::Any.
template<typename Element >
void	moveit_pro::behavior::registerVectorParameterParser ()
	Register a parser for std::vector<Element> that deposits a type-erased std::vector<BT::Any>.
template<typename T >
void	moveit_pro::behavior::registerParameterType ()
	Register a parser for ROS message type T AND register the JSON converter so the override value displays as structured JSON in the blackboard viewer.
void	moveit_pro::behavior::seedBuiltinParameterOverrideParsers ()
	Seed the registry with parsers for primitives (string, double, int, bool, YAML::Node) and every ROS message type covered by ROS_MESSAGE_YAML_PARSER in moveit_pro_common/utils/yaml_parsing_tools.hpp.