Class BehaviorTreeFactory

include/behaviortree_cpp/bt_factory.h:234–583

* @brief The BehaviorTreeFactory is used to create instances of a * TreeNode at run-time. * * Some node types are "builtin", whilst other are used defined and need * to be registered using a unique ID. */

 * to be registered using a unique ID.
 */
class BehaviorTreeFactory
{
public:
  BehaviorTreeFactory();
  ~BehaviorTreeFactory();

  BehaviorTreeFactory(const BehaviorTreeFactory& other) = delete;
  BehaviorTreeFactory& operator=(const BehaviorTreeFactory& other) = delete;

  BehaviorTreeFactory(BehaviorTreeFactory&& other) noexcept;
  BehaviorTreeFactory& operator=(BehaviorTreeFactory&& other) noexcept;

  /// Remove a registered ID.
  bool unregisterBuilder(const std::string& ID);

  /** The most generic way to register a NodeBuilder.
    *
    * Throws if you try to register twice a builder with the same
    * registration_ID.
    */
  void registerBuilder(const TreeNodeManifest& manifest, const NodeBuilder& builder);

  template <typename T>
  void registerBuilder(const std::string& ID, const NodeBuilder& builder)
  {
    auto manifest = CreateManifest<T>(ID);
    registerBuilder(manifest, builder);
  }

  /**
    * @brief registerSimpleAction help you register nodes of type SimpleActionNode.
    *
    * @param ID            registration ID
    * @param tick_functor  the callback to be invoked in the tick() method.
    * @param ports         if your SimpleNode requires ports, provide the list here.
    *
    * */
  void registerSimpleAction(const std::string& ID,
                            const SimpleActionNode::TickFunctor& tick_functor,
                            PortsList ports = {});
  /**
    * @brief registerSimpleCondition help you register nodes of type SimpleConditionNode.
    *
    * @param ID            registration ID
    * @param tick_functor  the callback to be invoked in the tick() method.
    * @param ports         if your SimpleNode requires ports, provide the list here.
    *
    * */
  void registerSimpleCondition(const std::string& ID,
                               const SimpleConditionNode::TickFunctor& tick_functor,
                               PortsList ports = {});
  /**
    * @brief registerSimpleDecorator help you register nodes of type SimpleDecoratorNode.
    *
    * @param ID            registration ID
    * @param tick_functor  the callback to be invoked in the tick() method.
    * @param ports         if your SimpleNode requires ports, provide the list here.
    *