Method createTreeFromText

src/bt_factory.cpp:418–441

}

Tree BehaviorTreeFactory::createTreeFromText(const std::string& text,
                                             Blackboard::Ptr blackboard)
{
  // Determine the main tree from the XML before loading into the shared parser.
  tinyxml2::XMLDocument doc;
  doc.Parse(text.c_str(), text.size());
  std::string main_tree_ID;
  if(const auto* root = doc.RootElement())
  {
    main_tree_ID = detectMainTreeId(root);
  }

  const std::string resolved_ID = loadXmlAndResolveTreeId(
      _p->parser.get(), main_tree_ID, [&] { _p->parser->loadFromText(text); });

  // Set the polymorphic cast registry on the blackboard (Issue #943)
  blackboard->setPolymorphicCastRegistry(_p->polymorphic_registry);

  Tree tree = resolved_ID.empty() ? _p->parser->instantiateTree(blackboard) :
                                    _p->parser->instantiateTree(blackboard, resolved_ID);
  tree.manifests = this->manifests();
  tree.remapManifestPointers();
  return tree;
}

Tree BehaviorTreeFactory::createTreeFromFile(const std::filesystem::path& file_path,
                                             Blackboard::Ptr blackboard)