moveit_studio::behaviors::LoadMultipleFromYaml< T > Class Template Reference

Loads types from a YAML file, and returns them as a vector in an output port. More...

#include <load_from_yaml.hpp>

Inheritance diagram for moveit_studio::behaviors::LoadMultipleFromYaml< T >:

Collaboration diagram for moveit_studio::behaviors::LoadMultipleFromYaml< T >:

Public Member Functions
	LoadMultipleFromYaml (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
BT::NodeStatus	tick () override
BT::PortsList	providedPorts ()
BT::KeyValueVector	metadata ()
BT::PortsList	providedPorts ()
BT::KeyValueVector	metadata ()
Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node. More...

Static Public Member Functions
static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Static Public Attributes
static const char	kPortIDInput [] = "file_path"
static const char	kPortIDOutput [] = "output"

Additional Inherited Members
Protected Attributes inherited from moveit_studio::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

template<typename T>
class moveit_studio::behaviors::LoadMultipleFromYaml< T >

Loads types from a YAML file, and returns them as a vector in an output port.

This is a templated behavior to load any type from a YAML file, as long as a YAML conversion function has been defined for the type (see yaml_parsing_tools.hpp). The YAML file can contain one or multiple instances of the type. In any case, an std::vector<T> will be returned, even if the file contains a single element.

In case of multiple messages, the YAML file is expected to be formatted as a multi-document YAML, e.g. for a type with 'x' and 'y' fields, this YAML contents would return an std::vector with two elements:

---

x: 0.1

y: 0.1

x: 0.2 y: 0.2

Template Parameters

T	Determines the type of object to load from the YAML file.

Data Port Name	Port Type	Object Type
file_path	input	std::string
output	output	std::vector<T>

Constructor & Destructor Documentation

LoadMultipleFromYaml()

template<typename T >

moveit_studio::behaviors::LoadMultipleFromYaml< T >::LoadMultipleFromYaml	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

Member Function Documentation

metadata() [1/3]

BT::KeyValueVector moveit_studio::behaviors::LoadMultipleFromYaml< geometry_msgs::msg::PoseStamped >::metadata

(

)

metadata() [2/3]

BT::KeyValueVector moveit_studio::behaviors::LoadMultipleFromYaml< moveit_studio_vision_msgs::msg::ObjectSubframe >::metadata

(

)

metadata() [3/3]

template<typename T >

BT::KeyValueVector moveit_studio::behaviors::LoadMultipleFromYaml< T >::metadata

static

providedPorts() [1/3]

BT::PortsList moveit_studio::behaviors::LoadMultipleFromYaml< geometry_msgs::msg::PoseStamped >::providedPorts

(

)

providedPorts() [2/3]

BT::PortsList moveit_studio::behaviors::LoadMultipleFromYaml< moveit_studio_vision_msgs::msg::ObjectSubframe >::providedPorts

(

)

providedPorts() [3/3]

template<typename T >

BT::PortsList moveit_studio::behaviors::LoadMultipleFromYaml< T >::providedPorts

static

tick()

template<typename T >

BT::NodeStatus moveit_studio::behaviors::LoadMultipleFromYaml< T >::tick

override

Member Data Documentation

kPortIDInput

template<typename T >

const char moveit_studio::behaviors::LoadMultipleFromYaml< T >::kPortIDInput = "file_path"

static

kPortIDOutput

template<typename T >

const char moveit_studio::behaviors::LoadMultipleFromYaml< T >::kPortIDOutput = "output"

static

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

• load_from_yaml.hpp
• load_from_yaml_impl.hpp