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‎404.html

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<a href="/xml_format/" title="the XML format" class="md-nav__link">
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the XML format
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‎BT_basics/index.html

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the XML format
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‎BlackBoard/index.html

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‎DecoratorNode/index.html

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‎NodeParameters/index.html

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‎SequenceNode/index.html

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‎getting_started/index.html

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<a href="#load-trees-at-run-time-using-the-xml-format" title="Load trees at run-time using the XML format" class="md-nav__link">
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<p><strong>BehaviorTree.CPP</strong> is a C++ library that can be easily integrated into
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your favourite distributed middleware, such as <strong>ROS</strong> or <strong>SmartSoft</strong>.</p>
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<p>You can also statically link it into your application (for example a game).</p>
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<p>There are some main concepts that you need to understand first.</p>
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<p>There are some main concepts that you need to understand first.</p>
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<h2 id="nodes-vs-trees">Nodes vs Trees</h2>
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<p>The user must create his/her own ActionNodes and ConditionNodes (LeafNodes) and this
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library helps you to compose them easily into trees. </p>
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class <strong>ActionNodeBase</strong>. </p>
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<p>Alternatively, we provided a mechanism to create a TreeNode passing a
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<strong>function pointer</strong> to a wrapper (dependency injection).</p>
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<p>This approach reduces the amount of boilerplate in your code but has also
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some limitations; the most important one is that TreeNodes created using
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function pointers can not support <a href="../NodeParameters/">NodeParameters</a>.</p>
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<p>This approach reduces the amount of boilerplate in your code; as a reference
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please look at the <a href="../tutorial_A_create_trees/">first tutorial</a> amd the one
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describing <a href="tutorial_g_legacy.md">non intrusive integration with legacy code</a>.</p>
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<h2 id="nodeparameters">NodeParameters</h2>
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<p>NodeParameters are conceptually similar to the arguments of a function.</p>
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<p>They are passed statically when the tree is instantiated.</p>
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<p>This is not surprising, since NodeParameters are usually parsed from file.</p>
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<p>The library provides some methods and utility functions to correctly convert
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values from string to the desired C++ type. </p>
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<h2 id="load-trees-at-run-time-using-the-xml-format">Load trees at run-time using the XML format</h2>
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<p>Despite the fact that the library is written in C++, trees themselves
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can be composed at run-time, reading the tree structure from file.</p>
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<p>An XML format is descibed in details <a href="../xml_format/">here</a>.</p>
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‎index.html

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