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‎index.html

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@@ -749,7 +749,7 @@ <h2 id="ok-but-why-do-we-need-behaviortrees-or-fsm">"Ok, but WHY do we need Beha
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complex.</p>
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<p>The usual approach to manage complexity, heterogeneity and scalability is to
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use the concept of
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<a href="https://en.wikipedia.org/wiki/Component-based_software_engineering">Component Base Software Engineering</a>.</p>
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<a href="https://en.wikipedia.org/wiki/Component-based_software_engineering">Component Based Software Engineering</a>.</p>
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<p>Any existing middleware for robotics took this approach either informally or formally,
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being <a href="http://www.ros.org">ROS</a>, <a href="http://www.yarp.it">YARP</a> and
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<a href="http://www.servicerobotik-ulm.de">SmartSoft</a> some notable examples.</p>

‎search/search_index.json

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‎sitemap.xml.gz

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‎tutorial_06_subtree_ports/index.html

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@@ -692,11 +692,8 @@ <h2 id="example">Example</h2>
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<span class="nt">&lt;Sequence</span> <span class="na">name=</span><span class="s">&quot;main_sequence&quot;</span><span class="nt">&gt;</span>
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<span class="nt">&lt;SetBlackboard</span> <span class="na">output_key=</span><span class="s">&quot;move_goal&quot;</span> <span class="na">value=</span><span class="s">&quot;1;2;3&quot;</span> <span class="nt">/&gt;</span>
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<span class="nt">&lt;SubTree</span> <span class="na">ID=</span><span class="s">&quot;MoveRobot&quot;</span><span class="nt">&gt;</span>
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<span class="hll"> <span class="nt">&lt;remap</span> <span class="na">internal=</span><span class="s">&quot;target&quot;</span> <span class="na">external=</span><span class="s">&quot;move_goal&quot;</span><span class="nt">/&gt;</span>
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</span><span class="hll"> <span class="nt">&lt;remap</span> <span class="na">internal=</span><span class="s">&quot;output&quot;</span> <span class="na">external=</span><span class="s">&quot;move_result&quot;</span><span class="nt">/&gt;</span>
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</span> <span class="nt">&lt;/SubTree&gt;</span>
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<span class="nt">&lt;SaySomething</span> <span class="na">message=</span><span class="s">&quot;{move_result}&quot;</span><span class="nt">/&gt;</span>
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<span class="hll"> <span class="nt">&lt;SubTree</span> <span class="na">ID=</span><span class="s">&quot;MoveRobot&quot;</span> <span class="na">target=</span><span class="s">&quot;move_goal&quot;</span> <span class="na">output=</span><span class="s">&quot;move_result&quot;</span> <span class="nt">/&gt;</span>
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</span> <span class="nt">&lt;SaySomething</span> <span class="na">message=</span><span class="s">&quot;{move_result}&quot;</span><span class="nt">/&gt;</span>
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<span class="nt">&lt;/Sequence&gt;</span>
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<span class="nt">&lt;/BehaviorTree&gt;</span>

‎tutorial_08_additional_args/index.html

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@@ -779,17 +779,12 @@ <h2 id="the-c-example">The C++ example</h2>
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<span class="n">NodeBuilder</span> <span class="n">builder_A</span> <span class="o">=</span>
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<span class="p">[](</span><span class="k">const</span> <span class="n">std</span><span class="o">::</span><span class="n">string</span><span class="o">&amp;</span> <span class="n">name</span><span class="p">,</span> <span class="k">const</span> <span class="n">NodeConfiguration</span><span class="o">&amp;</span> <span class="n">config</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="k">auto</span> <span class="n">ptr</span> <span class="o">=</span> <span class="k">new</span> <span class="n">Action_A</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">config</span><span class="p">,</span> <span class="mi">42</span><span class="p">,</span> <span class="mf">3.14</span><span class="p">,</span> <span class="s">&quot;hello world&quot;</span><span class="p">)</span>
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<span class="k">return</span> <span class="n">std</span><span class="o">::</span><span class="n">unique_ptr</span><span class="o">&lt;</span><span class="n">Action_A</span><span class="o">&gt;</span><span class="p">(</span> <span class="n">ptr</span> <span class="p">);</span>
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<span class="k">return</span> <span class="n">std</span><span class="o">::</span><span class="n">make_unique</span><span class="o">&lt;</span><span class="n">Action_A</span><span class="o">&gt;</span><span class="p">(</span> <span class="n">name</span><span class="p">,</span> <span class="n">config</span><span class="p">,</span> <span class="mi">42</span><span class="p">,</span> <span class="mf">3.14</span><span class="p">,</span> <span class="s">&quot;hello world&quot;</span> <span class="p">);</span>
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<span class="p">};</span>
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<span class="c1">// You may create manifest_A by hand, but in this case we can use a </span>
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<span class="c1">// convenient helper function called BehaviorTreeFactory::buildManifest</span>
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<span class="k">auto</span> <span class="n">manifest_A</span> <span class="o">=</span> <span class="n">BehaviorTreeFactory</span><span class="o">::</span><span class="n">buildManifest</span><span class="o">&lt;</span><span class="n">Action_A</span><span class="o">&gt;</span><span class="p">(</span><span class="s">&quot;Action_A&quot;</span><span class="p">);</span>
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<span class="c1">// BehaviorTreeFactory::registerBuilder is the more general way to </span>
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<span class="c1">// BehaviorTreeFactory::registerBuilder is a more general way to</span>
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<span class="c1">// register a custom node. </span>
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<span class="n">factory</span><span class="p">.</span><span class="n">registerBuilder</span><span class="p">(</span> <span class="n">manifest_A</span><span class="p">,</span> <span class="n">builder_A</span><span class="p">);</span>
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<span class="n">factory</span><span class="p">.</span><span class="n">registerBuilder</span><span class="o">&lt;</span><span class="n">Action_A</span><span class="o">&gt;</span><span class="p">(</span> <span class="s">&quot;Action_A&quot;</span><span class="p">,</span> <span class="n">builder_A</span><span class="p">);</span>
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<span class="c1">// The regitration of Action_B is done as usual, but remember </span>
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<span class="c1">// that we still need to call Action_B::init()</span>

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