Method instantiateTree

src/xml_parsing.cpp:697–735

}

Tree XMLParser::instantiateTree(const Blackboard::Ptr& root_blackboard,
                                std::string main_tree_ID)
{
  Tree output_tree;

  // use the main_tree_to_execute argument if it was provided by the user
  // or the one in the FIRST document opened
  if(main_tree_ID.empty())
  {
    XMLElement* first_xml_root = _p->opened_documents.front()->RootElement();

    if(auto main_tree_attribute = first_xml_root->Attribute("main_tree_to_execute"))
    {
      main_tree_ID = main_tree_attribute;
    }
    else if(_p->tree_roots.size() == 1)
    {
      // special case: there is only one registered BT.
      main_tree_ID = _p->tree_roots.begin()->first;
    }
    else
    {
      throw RuntimeError("[main_tree_to_execute] was not specified correctly");
    }
  }

  //--------------------------------------
  if(!root_blackboard)
  {
    throw RuntimeError("XMLParser::instantiateTree needs a non-empty "
                       "root_blackboard");
  }

  std::unordered_set<std::string> ancestors;
  _p->recursivelyCreateSubtree(main_tree_ID, {}, {}, output_tree, root_blackboard,
                               TreeNode::Ptr(), ancestors);
  output_tree.initialize();
  return output_tree;
}

void XMLParser::clearInternalState()
{