[{"data":1,"prerenderedAt":5467},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0400-0200-0400-jie-dian-zhi-jian-chuan-shu-ju":3,"wiki-doc-items-2023-12-30-ros2-tutorial":5048,"wiki:author-members":5455},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":217,"chapterOrder":5036,"date":5037,"description":89,"docKey":5038,"docRoot":5039,"docTitle":5040,"extension":5041,"isWikiDoc":753,"isWikiIndex":5042,"meta":5043,"navigation":753,"path":5044,"seo":5045,"stem":5046,"wikiDepth":152,"__hash__":5047},"wiki\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1200-0400-0200-0400-节点之间传数据.md","节点之间传数据",[7],"董佳辉",{"type":9,"value":10,"toc":5009},"minimark",[11,16,55,58,65,68,71,74,82,92,109,112,118,132,134,138,141,232,235,316,332,347,351,411,420,429,431,435,439,446,497,507,514,517,523,529,547,550,556,559,561,564,581,592,595,634,652,658,661,667,678,699,723,731,734,3337,3353,3363,3367,3378,3528,3604,3624,3643,3646,3653,3747,3753,3817,3828,3848,3852,3858,3948,4016,4022,4038,4041,4047,4103,4121,4124,4201,4204,4385,4398,4400,4404,4422,4433,4449,4457,4460,4466,4471,4486,4489,4597,4604,4613,4617,4625,4645,4652,4671,4676,4682,4685,4689,4697,4729,4745,4751,4776,4788,4793,4796,4813,4830,4835,4840,4842,4845,4848,4933,4936,4941,4944,4961,4963,4967,4983,4986,4989,4991,4994,5005],[12,13,15],"h2",{"id":14},"用-ports-与-blackboard-传递机器人目标","用 Ports 与 Blackboard 传递机器人目标",[17,18,19],"blockquote",{},[20,21,22,23,30,31,36,37,42,43,48,49,54],"p",{},"对应 BehaviorTree.CPP 3.8 官方文档：Tutorial - Basics 中的 ",[24,25,29],"a",{"href":26,"rel":27},"https:\u002F\u002Fwww.behaviortree.dev\u002Fdocs\u002F3.8\u002Ftutorial-basics\u002Ftutorial_02_basic_ports\u002F",[28],"nofollow","Blackboard and ports"," 和 ",[24,32,35],{"href":33,"rel":34},"https:\u002F\u002Fwww.behaviortree.dev\u002Fdocs\u002F3.8\u002Ftutorial-basics\u002Ftutorial_03_generic_ports\u002F",[28],"Ports with generic types","，并参考 ",[24,38,41],{"href":39,"rel":40},"https:\u002F\u002Fgithub.com\u002FBehaviorTree\u002FBehaviorTree.CPP\u002Fblob\u002F3.8.7\u002Finclude\u002Fbehaviortree_cpp_v3\u002Ftree_node.h",[28],"3.8.7 tree_node.h","、",[24,44,47],{"href":45,"rel":46},"https:\u002F\u002Fgithub.com\u002FBehaviorTree\u002FBehaviorTree.CPP\u002Fblob\u002F3.8.7\u002Finclude\u002Fbehaviortree_cpp_v3\u002Fbasic_types.h",[28],"basic_types.h"," 与 ",[24,50,53],{"href":51,"rel":52},"https:\u002F\u002Fgithub.com\u002FBehaviorTree\u002FBehaviorTree.CPP\u002Fblob\u002F3.8.7\u002Finclude\u002Fbehaviortree_cpp_v3\u002Fblackboard.h",[28],"blackboard.h","。",[20,56,57],{},"上一篇已经给出“检查电量 → 选择目标 → 打印目标”的完整工程。\n如果还没有运行，可以先按上一篇的实践部分建立工程；\n本篇另建一个独立示例，保留前一个工程，方便对照。",[20,59,60,61],{},"接下来把字符串目标换成机器人常用的坐标数据，集中解决几个相关问题：",[62,63,64],"strong",{},"不同名称的端口怎样连接，XML 文本怎样变成 C++ 类型，节点怎样读取并修改同一份数据，外部程序怎样与树交换数据。",[20,66,67],{},"本篇仍使用同步节点计算和打印数据，实际移动与导航留到“持续任务与中止”学习。",[69,70],"hr",{},[12,72,73],{"id":73},"从外部位姿计算一个任务目标",[20,75,76,77,81],{},"假设移动机器人当前位姿为 ",[78,79,80],"code",{},"(1.0, 2.0, 0.0)","，\n需要沿当前朝向前进 2 米，\n再给目标的 x 坐标增加 0.5 米的示例偏移：",[83,84,90],"pre",{"className":85,"code":87,"language":88,"meta":89},[86],"language-text","外部程序初始化 Blackboard\n├── robot_pose = Pose2D{1.0, 2.0, 0.0}\n└── travel_distance = 2.0\n ↓\nSequence\n├── CalculateGoal 根据起点、朝向和距离计算目标，写入 mission_goal\n├── OffsetGoal 读取 mission_goal，修改后写回同一个条目\n├── PrintGoal 从 mission_goal 读取计算结果\n└── PrintGoal 从 XML 固定文本读取另一组坐标\n ↓\n外部程序读取 mission_goal\n","text","",[78,91,87],{"__ignoreMap":89},[20,93,94,95,98,99,42,102,42,105,108],{},"这里的 ",[78,96,97],{},"Pose2D"," 是自行定义的 C++ 结构体，包含 ",[78,100,101],{},"x",[78,103,104],{},"y",[78,106,107],{},"yaw","，不依赖 ROS 消息类型。\n位置单位为米，朝向单位为弧度，示例中的坐标使用同一个参考坐标系。",[20,110,111],{},"计算时使用：",[83,113,116],{"className":114,"code":115,"language":88,"meta":89},[86],"goal.x = start.x + distance × cos(start.yaw)\ngoal.y = start.y + distance × sin(start.yaw)\ngoal.yaw = start.yaw\n",[78,117,115],{"__ignoreMap":89},[20,119,120,121,123,124,127,128,131],{},"起始位姿",[78,122,80],{},"，起始朝向为 0，所以朝前（是x）2米，先得到 ",[78,125,126],{},"(3.0, 2.0, 0.0)","；\n加上 x 偏移后，最终任务目标为 ",[78,129,130],{},"(3.5, 2.0, 0.0)","。这是坐标计算示例，不包含路径规划、碰撞检查或导航控制。",[69,133],{},[12,135,137],{"id":136},"端口名称与-blackboard-键各管一层","端口名称与 Blackboard 键各管一层",[20,139,140],{},"本篇用以下连接传递目标：",[83,142,146],{"className":143,"code":144,"language":145,"meta":89,"style":89},"language-xml shiki shiki-themes github-light github-dark","\u003CCalculateGoal start=\"{robot_pose}\" distance=\"{travel_distance}\" goal=\"{mission_goal}\"\u002F>\n\u003COffsetGoal goal=\"{mission_goal}\" offset_x=\"0.5\"\u002F>\n\u003CPrintGoal target=\"{mission_goal}\"\u002F>\n","xml",[78,147,148,191,215],{"__ignoreMap":89},[149,150,153,157,161,165,168,172,175,177,180,183,185,188],"span",{"class":151,"line":152},"line",1,[149,154,156],{"class":155},"sVt8B","\u003C",[149,158,160],{"class":159},"s9eBZ","CalculateGoal",[149,162,164],{"class":163},"sScJk"," start",[149,166,167],{"class":155},"=",[149,169,171],{"class":170},"sZZnC","\"{robot_pose}\"",[149,173,174],{"class":163}," distance",[149,176,167],{"class":155},[149,178,179],{"class":170},"\"{travel_distance}\"",[149,181,182],{"class":163}," goal",[149,184,167],{"class":155},[149,186,187],{"class":170},"\"{mission_goal}\"",[149,189,190],{"class":155},"\u002F>\n",[149,192,194,196,199,201,203,205,208,210,213],{"class":151,"line":193},2,[149,195,156],{"class":155},[149,197,198],{"class":159},"OffsetGoal",[149,200,182],{"class":163},[149,202,167],{"class":155},[149,204,187],{"class":170},[149,206,207],{"class":163}," offset_x",[149,209,167],{"class":155},[149,211,212],{"class":170},"\"0.5\"",[149,214,190],{"class":155},[149,216,218,220,223,226,228,230],{"class":151,"line":217},3,[149,219,156],{"class":155},[149,221,222],{"class":159},"PrintGoal",[149,224,225],{"class":163}," target",[149,227,167],{"class":155},[149,229,187],{"class":170},[149,231,190],{"class":155},[20,233,234],{},"读这段 XML 时，把节点接口和存储位置分开看：",[236,237,238,254],"table",{},[239,240,241],"thead",{},[242,243,244,248,251],"tr",{},[245,246,247],"th",{},"名称",[245,249,250],{},"所属位置",[245,252,253],{},"作用",[255,256,257,274,288,303],"tbody",{},[242,258,259,268,271],{},[260,261,262,264,265],"td",{},[78,263,160],{}," 的 ",[78,266,267],{},"goal",[260,269,270],{},"输出端口",[260,272,273],{},"计算节点写出目标的接口",[242,275,276,282,285],{},[260,277,278,264,280],{},[78,279,198],{},[78,281,267],{},[260,283,284],{},"双向端口",[260,286,287],{},"偏移节点读取并更新目标的接口",[242,289,290,297,300],{},[260,291,292,264,294],{},[78,293,222],{},[78,295,296],{},"target",[260,298,299],{},"输入端口",[260,301,302],{},"打印节点读取目标的接口",[242,304,305,310,313],{},[260,306,307],{},[78,308,309],{},"mission_goal",[260,311,312],{},"Blackboard 键",[260,314,315],{},"保存这几个端口共同使用的目标数据",[20,317,318,319,321,322,324,325,328,329,331],{},"生产者的端口叫 ",[78,320,267],{},"，消费者的端口叫 ",[78,323,296],{},"，仍然可以连接，因为 XML 把它们映射到同一个 ",[78,326,327],{},"{mission_goal}","，而且使用相同的 ",[78,330,97],{}," 类型。",[20,333,334,335,338,339,342,343,346],{},"C++ 中使用的是节点自己的端口名称：",[78,336,337],{},"setOutput(\"goal\", ...)"," 或 ",[78,340,341],{},"getInput\u003CPose2D>(\"target\")","。\n将来把 Blackboard 键改为 ",[78,344,345],{},"delivery_goal","，只需统一调整 XML 中的映射，节点实现不必跟着改名。",[348,349,350],"h3",{"id":350},"三种端口方向",[236,352,353,366],{},[239,354,355],{},[242,356,357,360,363],{},[245,358,359],{},"声明",[245,361,362],{},"读写方法",[245,364,365],{},"适合的职责",[255,367,368,383,398],{},[242,369,370,375,380],{},[260,371,372],{},[78,373,374],{},"BT::InputPort\u003CT>",[260,376,377],{},[78,378,379],{},"getInput\u003CT>()",[260,381,382],{},"读取起点、距离、目标等输入",[242,384,385,390,395],{},[260,386,387],{},[78,388,389],{},"BT::OutputPort\u003CT>",[260,391,392],{},[78,393,394],{},"setOutput()",[260,396,397],{},"产生并写出一个结果",[242,399,400,405,408],{},[260,401,402],{},[78,403,404],{},"BT::BidirectionalPort\u003CT>",[260,406,407],{},"先读取，再按需写出",[260,409,410],{},"读取已有目标，修改后写回",[20,412,413,414,416,417,419],{},"双向端口同时提供读写接口；它不会自动完成修改，也不保证条目已经有值。\n本例先执行 ",[78,415,160],{},"，再执行 ",[78,418,198],{},"，就是为了在读写目标前先产生有效数据。",[20,421,422,425,426,428],{},[78,423,424],{},"getInput()"," 将值读到本地变量，修改这个变量不会直接改变 Blackboard。\n偏移节点需要明确调用 ",[78,427,394],{}," 写回结果。",[69,430],{},[12,432,434],{"id":433},"xml-文本与-c-类型怎样对应","XML 文本与 C++ 类型怎样对应",[348,436,438],{"id":437},"数值可以来自固定文本blackboard-或默认值","数值可以来自固定文本、Blackboard 或默认值",[20,440,441,442,445],{},"计算节点的距离输入声明为 ",[78,443,444],{},"double","，下面三种配置对应三种来源：",[236,447,448,458],{},[239,449,450],{},[242,451,452,455],{},[245,453,454],{},"XML 配置",[245,456,457],{},"取值方式",[255,459,460,472,482],{},[242,461,462,467],{},[260,463,464],{},[78,465,466],{},"distance=\"2.0\"",[260,468,469,470],{},"将固定文本转换成 ",[78,471,444],{},[242,473,474,479],{},[260,475,476],{},[78,477,478],{},"distance=\"{travel_distance}\"",[260,480,481],{},"从 Blackboard 读取对应条目",[242,483,484,491],{},[260,485,486,487,490],{},"省略 ",[78,488,489],{},"distance"," 属性",[260,492,493,494],{},"使用节点声明的默认值，本例为 ",[78,495,496],{},"1.0",[20,498,499,500,503,504,54],{},"BehaviorTree.CPP 已经提供常用数值类型的文本转换。\n默认值通过 ",[78,501,502],{},"providedPorts()"," 声明；\n下面完整程序使用 3.8 的三参数写法 ",[78,505,506],{},"BT::InputPort\u003Cdouble>(\"distance\", 1.0, \"前进距离，单位为米\")",[20,508,509,510,513],{},"默认值用于没有显式配置该输入的情况。\n如果 XML 已经写成 ",[78,511,512],{},"{unknown_distance}","，但该条目没有有效值，读取仍会失败，不会自动退回默认值。",[348,515,516],{"id":516},"自定义类型需要约定文本格式",[20,518,519,520,522],{},"本篇约定 ",[78,521,97],{}," 的文本格式为三个用分号分隔的实数：",[83,524,527],{"className":525,"code":526,"language":88,"meta":89},[86],"x;y;yaw\n2.0;3.0;1.57\n",[78,528,526],{"__ignoreMap":89},[20,530,531,532,535,536,538,539,542,543,546],{},"因此，",[78,533,534],{},"\u003CPrintGoal target=\"2.0;3.0;1.57\"\u002F>"," 需要把字符串转换成 ",[78,537,97],{},"。\n做法是在 ",[78,540,541],{},"BT"," 命名空间中，为 ",[78,544,545],{},"convertFromString\u003CPose2D>()"," 提供模板特化，再分别转换三个数值。\n特化放在使用该类型声明端口的节点类之前。",[20,548,549],{},"两条数据路径有所区别：",[83,551,554],{"className":552,"code":553,"language":88,"meta":89},[86],"C++ 计算出的 Pose2D → setOutput() → Blackboard → getInput\u003CPose2D>()\n 直接读取对应类型的值\n\nXML 中的 \"2.0;3.0;1.57\" → getInput\u003CPose2D>() → convertFromString\u003CPose2D>()\n 先解析文本，再得到值\n",[78,555,553],{"__ignoreMap":89},[20,557,558],{},"Blackboard 可以保存结构体，不需要把所有数据先转成字符串。\nXML 文本转换也不会让任意两个 C++ 类型自动互相兼容；生产者、消费者和外部程序仍应统一数据类型。",[69,560],{},[12,562,563],{"id":563},"沿用框架建立数据传递工程",[20,565,566,567,571,572,576,577,580],{},"本篇继续使用上一篇的 BT 练习版，目录来自 ",[24,568,570],{"href":569},"\u002Fwiki\u002F2023-10-05-cplusplus-jiao-xue\u002F2200-cmake-gong-cheng-mu-ban","CMake工程模板","，\n构建方式见 ",[24,573,575],{"href":574},"\u002Fwiki\u002F2023-10-05-cplusplus-jiao-xue\u002F2200-0100-cmakepresets-yu-gou-jian-an-zhuang","CMakePresets与构建安装","。\n需要支持 C++20 的编译器、CMake 3.22 或更新版本和 Ninja。\n",[62,578,579],{},"Ubuntu 22.04 可以继续使用 CMake 3.22.1","，沿用上一篇的工程即可；C++20 和预设格式版本 3 都直接沿用当前模板。",[20,582,583,584,587,588,591],{},"如果还没有建立上一篇的框架工程，先按上一篇准备好工程文件。\n本篇直接复制整个 ",[78,585,586],{},"bt_first_tree"," 文件夹，再把副本重命名为 ",[78,589,590],{},"bt_ports","，保留原来的工程供后续对照。",[20,593,594],{},"在系统文件管理器中完成下面几步：",[596,597,598,608,621],"ol",{},[599,600,601,602,604,605,607],"li",{},"打开 ",[78,603,586],{}," 所在的父目录，复制并粘贴整个文件夹，将副本重命名为 ",[78,606,590],{},"，让两个工程位于同一层目录。",[599,609,610,611,613,614,30,617,620],{},"在新副本 ",[78,612,590],{}," 中，删除复制过来的 ",[78,615,616],{},"build",[78,618,619],{},"install"," 文件夹（如果存在）。其中的构建缓存和安装结果属于旧工程，新工程稍后会重新生成。",[599,622,623,624,627,628,631,632,54],{},"在 VSCode 中选择 ",[62,625,626],{},"文件 → 新建窗口","，再选择 ",[62,629,630],{},"文件 → 打开文件夹","，打开新的 ",[78,633,590],{},[20,635,636,42,639,42,642,645,646,30,649,54],{},[78,637,638],{},"cmake",[78,640,641],{},"src",[78,643,644],{},"trees"," 目录及其中的文件都已随工程复制过来，不需要重新建立。\n稍后直接修改顶层项目名，并用本篇内容替换已有的 ",[78,647,648],{},"src\u002Fmain.cpp",[78,650,651],{},"trees\u002Fmission.xml",[20,653,654],{},[655,656],"img",{"alt":89,"src":657},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1792289716277-fc3af03e.webp",[20,659,660],{},"新工程的构建目录会在 Configure、Build 时由自己的 preset 重新生成。参与本篇学习的文件为：",[83,662,665],{"className":663,"code":664,"language":88,"meta":89},[86],"bt_ports\u002F\n├── CMakeLists.txt\n├── CMakePresets.json\n├── cmake\u002F\n│ ├── ProjectOptions.cmake\n│ └── BehaviorTree.cmake\n├── src\u002F\n│ ├── CMakeLists.txt\n│ └── main.cpp\n└── trees\u002F\n └── mission.xml\n",[78,666,664],{"__ignoreMap":89},[20,668,669,670,673,674,677],{},"在新的顶层 ",[78,671,672],{},"CMakeLists.txt"," 中，将 ",[78,675,676],{},"project(...)"," 一行改为：",[83,679,682],{"className":680,"code":681,"language":638,"meta":89,"style":89},"language-cmake shiki shiki-themes github-light github-dark","project(bt_ports VERSION 1.0.0 LANGUAGES C CXX)\n",[78,683,684],{"__ignoreMap":89},[149,685,686,690,693,696],{"class":151,"line":152},[149,687,689],{"class":688},"szBVR","project",[149,691,692],{"class":155},"(bt_ports ",[149,694,695],{"class":163},"VERSION",[149,697,698],{"class":155}," 1.0.0 LANGUAGES C CXX)\n",[20,700,701,702,705,706,709,710,713,714,716,717,719,720,54],{},"其他配置原样沿用：",[78,703,704],{},"BehaviorTree.cmake"," 继续优先使用已安装的 ",[62,707,708],{},"3.8.7","，未找到时再获取同版本源码；\n",[78,711,712],{},"src\u002FCMakeLists.txt"," 自动以新项目名创建 ",[78,715,590],{},"，并将新工程的 ",[78,718,651],{}," 路径交给 ",[78,721,722],{},"BT_XML_PATH",[20,724,725,726,48,728,730],{},"在 VSCode 编辑器中，用下面的完整 C++ 和 XML 分别替换 ",[78,727,648],{},[78,729,651],{}," 的原有内容，再保存。本篇继续使用 CMake Tools 配置、构建和运行。",[348,732,648],{"id":733},"srcmaincpp",[83,735,739],{"className":736,"code":737,"language":738,"meta":89,"style":89},"language-cpp shiki shiki-themes github-light github-dark","#include \"behaviortree_cpp_v3\u002Fbt_factory.h\"\n\n#include \u003Ccmath>\n#include \u003Cexception>\n#include \u003Ciomanip>\n#include \u003Ciostream>\n#include \u003Cstring>\n\nstruct Pose2D\n{\n double x;\n double y;\n double yaw;\n};\n\n\u002F\u002F 统一坐标的打印方式，便于观察每一步的数据\nstd::ostream& operator\u003C\u003C(std::ostream& stream, const Pose2D& pose)\n{\n return stream \u003C\u003C '(' \u003C\u003C pose.x \u003C\u003C \", \" \u003C\u003C pose.y \u003C\u003C \", \" \u003C\u003C pose.yaw \u003C\u003C ')';\n}\n\nnamespace BT\n{\ntemplate \u003C>\ninline Pose2D convertFromString\u003CPose2D>(StringView text)\n{\n \u002F\u002F XML 中的位姿格式为 x;y;yaw，朝向单位为弧度\n const auto parts = splitString(text, ';');\n if (parts.size() != 3)\n {\n throw RuntimeError(\"Pose2D requires x;y;yaw\");\n }\n\n Pose2D pose{\n convertFromString\u003Cdouble>(parts[0]),\n convertFromString\u003Cdouble>(parts[1]),\n convertFromString\u003Cdouble>(parts[2])};\n\n if (!std::isfinite(pose.x) || !std::isfinite(pose.y) || !std::isfinite(pose.yaw))\n {\n throw RuntimeError(\"Pose2D values must be finite\");\n }\n return pose;\n}\n} \u002F\u002F namespace BT\n\nclass CalculateGoal : public BT::SyncActionNode\n{\npublic:\n CalculateGoal(const std::string& name, const BT::NodeConfiguration& config)\n : BT::SyncActionNode(name, config)\n {}\n\n static BT::PortsList providedPorts()\n {\n return {\n BT::InputPort\u003CPose2D>(\"start\"),\n BT::InputPort\u003Cdouble>(\"distance\", 1.0, \"前进距离，单位为米\"),\n BT::OutputPort\u003CPose2D>(\"goal\")};\n }\n\n BT::NodeStatus tick() override\n {\n const auto start = getInput\u003CPose2D>(\"start\");\n const auto distance = getInput\u003Cdouble>(\"distance\");\n if (!start)\n {\n throw BT::RuntimeError(\"Cannot read input [start]: \", start.error());\n }\n if (!distance)\n {\n throw BT::RuntimeError(\"Cannot read input [distance]: \", distance.error());\n }\n if (!std::isfinite(distance.value()) || distance.value() \u003C 0.0)\n {\n throw BT::RuntimeError(\"Input [distance] must be finite and non-negative\");\n }\n\n \u002F\u002F 沿起始朝向计算目标，计算结果仍是一个 Pose2D 对象\n const Pose2D& origin = start.value();\n const Pose2D goal{\n origin.x + distance.value() * std::cos(origin.yaw),\n origin.y + distance.value() * std::sin(origin.yaw),\n origin.yaw};\n\n const auto written = setOutput\u003CPose2D>(\"goal\", goal);\n if (!written)\n {\n throw BT::RuntimeError(\"Cannot write output [goal]: \", written.error());\n }\n std::cout \u003C\u003C \"[CalculateGoal] distance=\" \u003C\u003C distance.value()\n \u003C\u003C \", goal=\" \u003C\u003C goal \u003C\u003C '\\n';\n return BT::NodeStatus::SUCCESS;\n }\n};\n\nclass OffsetGoal : public BT::SyncActionNode\n{\npublic:\n OffsetGoal(const std::string& name, const BT::NodeConfiguration& config)\n : BT::SyncActionNode(name, config)\n {}\n\n static BT::PortsList providedPorts()\n {\n return {\n BT::BidirectionalPort\u003CPose2D>(\"goal\"),\n BT::InputPort\u003Cdouble>(\"offset_x\", 0.0, \"目标在参考坐标系 x 方向的偏移\")};\n }\n\n BT::NodeStatus tick() override\n {\n const auto input = getInput\u003CPose2D>(\"goal\");\n const auto offset = getInput\u003Cdouble>(\"offset_x\");\n if (!input)\n {\n throw BT::RuntimeError(\"Cannot read input [goal]: \", input.error());\n }\n if (!offset)\n {\n throw BT::RuntimeError(\"Cannot read input [offset_x]: \", offset.error());\n }\n if (!std::isfinite(offset.value()))\n {\n throw BT::RuntimeError(\"Input [offset_x] must be finite\");\n }\n\n \u002F\u002F 先修改本地副本，再通过双向端口写回同一个条目\n Pose2D goal = input.value();\n goal.x += offset.value();\n const auto written = setOutput\u003CPose2D>(\"goal\", goal);\n if (!written)\n {\n throw BT::RuntimeError(\"Cannot write output [goal]: \", written.error());\n }\n std::cout \u003C\u003C \"[OffsetGoal] goal=\" \u003C\u003C goal \u003C\u003C '\\n';\n return BT::NodeStatus::SUCCESS;\n }\n};\n\nclass PrintGoal : public BT::SyncActionNode\n{\npublic:\n PrintGoal(const std::string& name, const BT::NodeConfiguration& config)\n : BT::SyncActionNode(name, config)\n {}\n\n static BT::PortsList providedPorts()\n {\n return {BT::InputPort\u003CPose2D>(\"target\")};\n }\n\n BT::NodeStatus tick() override\n {\n const auto target = getInput\u003CPose2D>(\"target\");\n if (!target)\n {\n throw BT::RuntimeError(\"Cannot read input [target]: \", target.error());\n }\n std::cout \u003C\u003C \"[PrintGoal:\" \u003C\u003C name() \u003C\u003C \"] target=\" \u003C\u003C target.value() \u003C\u003C '\\n';\n return BT::NodeStatus::SUCCESS;\n }\n};\n\nint main()\n{\n try\n {\n \u002F\u002F 在编辑器中修改这个模拟距离，再构建运行；XML 路径由构建配置提供\n const double distance = 2.0;\n std::cout \u003C\u003C std::fixed \u003C\u003C std::setprecision(2);\n\n \u002F\u002F 外部程序在创建树之前，准备带有明确 C++ 类型的输入\n auto blackboard = BT::Blackboard::create();\n blackboard->set\u003CPose2D>(\"robot_pose\", Pose2D{1.0, 2.0, 0.0});\n blackboard->set\u003Cdouble>(\"travel_distance\", distance);\n\n BT::BehaviorTreeFactory factory;\n factory.registerNodeType\u003CCalculateGoal>(\"CalculateGoal\");\n factory.registerNodeType\u003COffsetGoal>(\"OffsetGoal\");\n factory.registerNodeType\u003CPrintGoal>(\"PrintGoal\");\n auto tree = factory.createTreeFromFile(BT_XML_PATH, blackboard);\n\n const BT::NodeStatus result = tree.tickRootWhileRunning();\n std::cout \u003C\u003C \"Tree result: \" \u003C\u003C BT::toStr(result) \u003C\u003C '\\n';\n if (result == BT::NodeStatus::SUCCESS)\n {\n \u002F\u002F 树执行后，外部程序可以从同一块 Blackboard 取得输出\n const Pose2D goal = blackboard->get\u003CPose2D>(\"mission_goal\");\n std::cout \u003C\u003C \"[main] mission_goal=\" \u003C\u003C goal \u003C\u003C '\\n';\n }\n return result == BT::NodeStatus::SUCCESS ? 0 : 1;\n }\n catch (const std::exception& error)\n {\n std::cerr \u003C\u003C \"Error: \" \u003C\u003C error.what() \u003C\u003C '\\n';\n return 2;\n 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factory;\n",[149,2999,3001,3004,3006,3008,3010,3012,3015],{"class":151,"line":3000},179,[149,3002,3003],{"class":155}," 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\"",[149,3110,931],{"class":688},[149,3112,1289],{"class":163},[149,3114,865],{"class":155},[149,3116,3117],{"class":163},"toStr",[149,3119,3120],{"class":155},"(result) ",[149,3122,877],{"class":688},[149,3124,1943],{"class":170},[149,3126,1946],{"class":1072},[149,3128,1949],{"class":170},[149,3130,961],{"class":155},[149,3132,3134,3136,3139,3142,3144,3146,3148],{"class":151,"line":3133},186,[149,3135,1567],{"class":688},[149,3137,3138],{"class":155}," (result ",[149,3140,3141],{"class":688},"==",[149,3143,1289],{"class":163},[149,3145,865],{"class":155},[149,3147,1498],{"class":163},[149,3149,3150],{"class":155},"::SUCCESS)\n",[149,3152,3154],{"class":151,"line":3153},187,[149,3155,1580],{"class":155},[149,3157,3159],{"class":151,"line":3158},188,[149,3160,3161],{"class":855}," \u002F\u002F 树执行后，外部程序可以从同一块 Blackboard 取得输出\n",[149,3163,3165,3168,3171,3173,3176,3178,3180,3182,3184,3187],{"class":151,"line":3164},189,[149,3166,3167],{"class":688}," const",[149,3169,3170],{"class":155}," Pose2D goal ",[149,3172,167],{"class":688},[149,3174,3175],{"class":155}," blackboard->get",[149,3177,156],{"class":688},[149,3179,97],{"class":155},[149,3181,2945],{"class":688},[149,3183,880],{"class":155},[149,3185,3186],{"class":170},"\"mission_goal\"",[149,3188,1051],{"class":155},[149,3190,3192,3195,3197,3199,3202,3204,3206,3208,3210,3212,3214],{"class":151,"line":3191},190,[149,3193,3194],{"class":163}," std",[149,3196,1911],{"class":155},[149,3198,877],{"class":688},[149,3200,3201],{"class":170}," \"[main] mission_goal=\"",[149,3203,931],{"class":688},[149,3205,1938],{"class":155},[149,3207,877],{"class":688},[149,3209,1943],{"class":170},[149,3211,1946],{"class":1072},[149,3213,1949],{"class":170},[149,3215,961],{"class":155},[149,3217,3219],{"class":151,"line":3218},191,[149,3220,1613],{"class":155},[149,3222,3224,3226,3229,3231,3233,3235,3237,3240,3243,3246,3249,3252],{"class":151,"line":3223},192,[149,3225,1399],{"class":688},[149,3227,3228],{"class":155}," result ",[149,3230,3141],{"class":688},[149,3232,1289],{"class":163},[149,3234,865],{"class":155},[149,3236,1498],{"class":163},[149,3238,3239],{"class":155},"::SUCCESS ",[149,3241,3242],{"class":688},"?",[149,3244,3245],{"class":1072}," 0",[149,3247,3248],{"class":688}," :",[149,3250,3251],{"class":1072}," 1",[149,3253,961],{"class":155},[149,3255,3257],{"class":151,"line":3256},193,[149,3258,1103],{"class":155},[149,3260,3262,3265,3267,3269,3271,3274,3276],{"class":151,"line":3261},194,[149,3263,3264],{"class":688}," catch",[149,3266,1179],{"class":155},[149,3268,898],{"class":688},[149,3270,1318],{"class":163},[149,3272,3273],{"class":155},"::exception",[149,3275,871],{"class":688},[149,3277,3278],{"class":155}," error)\n",[149,3280,3282],{"class":151,"line":3281},195,[149,3283,1081],{"class":155},[149,3285,3287,3289,3292,3294,3297,3299,3302,3305,3307,3309,3311,3313,3315],{"class":151,"line":3286},196,[149,3288,1908],{"class":163},[149,3290,3291],{"class":155},"::cerr ",[149,3293,877],{"class":688},[149,3295,3296],{"class":170}," \"Error: \"",[149,3298,931],{"class":688},[149,3300,3301],{"class":155}," error.",[149,3303,3304],{"class":163},"what",[149,3306,1066],{"class":155},[149,3308,877],{"class":688},[149,3310,1943],{"class":170},[149,3312,1946],{"class":1072},[149,3314,1949],{"class":170},[149,3316,961],{"class":155},[149,3318,3320,3322,3325],{"class":151,"line":3319},197,[149,3321,1399],{"class":688},[149,3323,3324],{"class":1072}," 2",[149,3326,961],{"class":155},[149,3328,3330],{"class":151,"line":3329},198,[149,3331,1103],{"class":155},[149,3333,3335],{"class":151,"line":3334},199,[149,3336,967],{"class":155},[20,3338,3339,3341,3342,3345,3346,3348,3349,3352],{},[78,3340,379],{}," 返回的是带有成功或错误信息的结果；检查有效后，再用 ",[78,3343,3344],{},".value()"," 取得值。",[78,3347,394],{}," 同样有返回结果，本例也进行检查；类型冲突等情况还可能抛出异常，由 ",[78,3350,3351],{},"main()"," 统一显示。",[20,3354,3355,3356,3358,3359,3362],{},"本例把缺少必要输入、文本格式错误等作为配置或数据错误报告，退出码为 ",[78,3357,1163],{},"。实际任务中可以根据节点职责选择返回 ",[78,3360,3361],{},"FAILURE"," 或使用默认值，不必把所有情况都处理成异常。",[348,3364,3366],{"id":3365},"创建写入和读取-blackboard-的-api","创建、写入和读取 Blackboard 的 API",[20,3368,3369,3370,30,3372,3374,3375,3377],{},"上一篇介绍了节点内部的 ",[78,3371,424],{},[78,3373,394],{},"。\n本篇在 ",[78,3376,3351],{}," 中直接访问 Blackboard，使用的是另一组接口。\n下面列出本例用到的函数原型；声明用于阅读，不用再复制到工程中。",[83,3379,3381],{"className":736,"code":3380,"language":738,"meta":89,"style":89},"\u002F\u002F Blackboard 类中的成员声明\nstatic BT::Blackboard::Ptr create(BT::Blackboard::Ptr parent = {});\n\ntemplate\u003Ctypename T>\nvoid set(const std::string& key, const T& value);\n\ntemplate\u003Ctypename T>\nT get(const std::string& key) const;\n",[78,3382,3383,3388,3428,3432,3447,3483,3487,3499],{"__ignoreMap":89},[149,3384,3385],{"class":151,"line":152},[149,3386,3387],{"class":855},"\u002F\u002F Blackboard 类中的成员声明\n",[149,3389,3390,3393,3395,3397,3399,3401,3404,3407,3409,3411,3413,3415,3417,3419,3422,3425],{"class":151,"line":193},[149,3391,3392],{"class":688},"static",[149,3394,1289],{"class":163},[149,3396,865],{"class":155},[149,3398,2925],{"class":163},[149,3400,865],{"class":155},[149,3402,3403],{"class":163},"Ptr",[149,3405,3406],{"class":163}," create",[149,3408,880],{"class":155},[149,3410,541],{"class":163},[149,3412,865],{"class":155},[149,3414,2925],{"class":163},[149,3416,865],{"class":155},[149,3418,3403],{"class":163},[149,3420,3421],{"class":891}," parent",[149,3423,3424],{"class":688}," =",[149,3426,3427],{"class":155}," {});\n",[149,3429,3430],{"class":151,"line":217},[149,3431,754],{"emptyLinePlaceholder":753},[149,3433,3434,3436,3438,3441,3444],{"class":151,"line":764},[149,3435,992],{"class":688},[149,3437,156],{"class":155},[149,3439,3440],{"class":688},"typename",[149,3442,3443],{"class":163}," T",[149,3445,3446],{"class":155},">\n",[149,3448,3449,3452,3455,3457,3459,3461,3463,3465,3467,3470,3472,3474,3476,3478,3481],{"class":151,"line":772},[149,3450,3451],{"class":688},"void",[149,3453,3454],{"class":163}," set",[149,3456,880],{"class":155},[149,3458,898],{"class":688},[149,3460,1318],{"class":163},[149,3462,865],{"class":155},[149,3464,1323],{"class":163},[149,3466,871],{"class":688},[149,3468,3469],{"class":891}," key",[149,3471,895],{"class":155},[149,3473,898],{"class":688},[149,3475,3443],{"class":163},[149,3477,871],{"class":688},[149,3479,3480],{"class":891}," value",[149,3482,1051],{"class":155},[149,3484,3485],{"class":151,"line":780},[149,3486,754],{"emptyLinePlaceholder":753},[149,3488,3489,3491,3493,3495,3497],{"class":151,"line":788},[149,3490,992],{"class":688},[149,3492,156],{"class":155},[149,3494,3440],{"class":688},[149,3496,3443],{"class":163},[149,3498,3446],{"class":155},[149,3500,3501,3504,3507,3509,3511,3513,3515,3517,3519,3521,3524,3526],{"class":151,"line":796},[149,3502,3503],{"class":163},"T",[149,3505,3506],{"class":163}," get",[149,3508,880],{"class":155},[149,3510,898],{"class":688},[149,3512,1318],{"class":163},[149,3514,865],{"class":155},[149,3516,1323],{"class":163},[149,3518,871],{"class":688},[149,3520,3469],{"class":891},[149,3522,3523],{"class":155},") ",[149,3525,898],{"class":688},[149,3527,961],{"class":155},[236,3529,3530,3543],{},[239,3531,3532],{},[242,3533,3534,3537,3540],{},[245,3535,3536],{},"调用",[245,3538,3539],{},"参数",[245,3541,3542],{},"返回值与作用",[255,3544,3545,3570,3588],{},[242,3546,3547,3552,3559],{},[260,3548,3549],{},[78,3550,3551],{},"BT::Blackboard::create()",[260,3553,3554,3555,3558],{},"本例不传参数；可选参数 ",[78,3556,3557],{},"parent"," 指定父 Blackboard，默认空指针",[260,3560,3561,3562,3565,3566,3569],{},"返回 ",[78,3563,3564],{},"BT::Blackboard::Ptr","，也就是 ",[78,3567,3568],{},"std::shared_ptr\u003CBT::Blackboard>","，用于持有这块 Blackboard",[242,3571,3572,3577,3583],{},[260,3573,3574],{},[78,3575,3576],{},"blackboard->set\u003CPose2D>(\"robot_pose\", Pose2D{1.0, 2.0, 0.0})",[260,3578,3579,3580,3582],{},"模板参数 ",[78,3581,97],{}," 指定值类型；第一个参数是键名，第二个参数是要保存的值",[260,3584,3561,3585,3587],{},[78,3586,3451],{},"，创建或更新条目；类型不兼容等错误可能抛出异常",[242,3589,3590,3595,3598],{},[260,3591,3592],{},[78,3593,3594],{},"blackboard->get\u003CPose2D>(\"mission_goal\")",[260,3596,3597],{},"模板参数指定期望读取的类型；唯一的函数参数是键名",[260,3599,3600,3601,3603],{},"返回一个 ",[78,3602,97],{}," 值；本例使用的这个重载在键不存在或类型转换失败时抛出异常",[20,3605,94,3606,3609,3610,3612,3613,42,3616,3619,3620,3623],{},[78,3607,3608],{},"key"," 是 ",[62,3611,312],{},"。\n节点内部的 ",[78,3614,3615],{},"getInput(\"target\")",[78,3617,3618],{},"setOutput(\"goal\", value)"," 接收的则是 ",[62,3621,3622],{},"节点端口名","，由 XML 决定它们连接哪个键。",[20,3625,3626,3629,3630,3632,3633,3636,3637,3639,3640,54],{},[78,3627,3628],{},"factory.createTreeFromFile(BT_XML_PATH, blackboard)"," 的第一个参数仍是 XML 路径，第二个参数把刚准备好的 Blackboard 交给根树。\n这里传递的是共享指针，因此节点执行时读写的就是 ",[78,3631,3351],{}," 中持有的同一块数据。\n",[78,3634,3635],{},"get\u003CPose2D>()"," 返回值的副本，修改取得的 ",[78,3638,267],{}," 变量不会自动更新 Blackboard；\n需要更新时仍应调用 ",[78,3641,3642],{},"set()",[348,3644,3645],{"id":3645},"带默认值的输入端口与双向端口",[20,3647,3648,3649,3652],{},"本篇第一次使用 ",[78,3650,3651],{},"InputPort\u003CT>()"," 的三参数重载：",[83,3654,3656],{"className":736,"code":3655,"language":738,"meta":89,"style":89},"template\u003Ctypename T = void>\nstd::pair\u003Cstd::string, BT::PortInfo> InputPort(\n BT::StringView name,\n const T& default_value,\n BT::StringView description);\n",[78,3657,3658,3673,3707,3721,3734],{"__ignoreMap":89},[149,3659,3660,3662,3664,3666,3668,3670],{"class":151,"line":152},[149,3661,992],{"class":688},[149,3663,156],{"class":155},[149,3665,3440],{"class":688},[149,3667,3443],{"class":163},[149,3669,3424],{"class":688},[149,3671,3672],{"class":155}," void>\n",[149,3674,3675,3677,3679,3682,3684,3686,3688,3690,3692,3694,3696,3699,3702,3704],{"class":151,"line":193},[149,3676,862],{"class":163},[149,3678,865],{"class":155},[149,3680,3681],{"class":163},"pair",[149,3683,156],{"class":155},[149,3685,862],{"class":163},[149,3687,865],{"class":155},[149,3689,1323],{"class":163},[149,3691,895],{"class":155},[149,3693,541],{"class":163},[149,3695,865],{"class":155},[149,3697,3698],{"class":163},"PortInfo",[149,3700,3701],{"class":155},"> ",[149,3703,1413],{"class":163},[149,3705,3706],{"class":155},"(\n",[149,3708,3709,3711,3713,3716,3718],{"class":151,"line":217},[149,3710,1493],{"class":163},[149,3712,865],{"class":155},[149,3714,3715],{"class":163},"StringView",[149,3717,1328],{"class":891},[149,3719,3720],{"class":155},",\n",[149,3722,3723,3725,3727,3729,3732],{"class":151,"line":764},[149,3724,1031],{"class":688},[149,3726,3443],{"class":163},[149,3728,871],{"class":688},[149,3730,3731],{"class":891}," default_value",[149,3733,3720],{"class":155},[149,3735,3736,3738,3740,3742,3745],{"class":151,"line":772},[149,3737,1493],{"class":163},[149,3739,865],{"class":155},[149,3741,3715],{"class":163},[149,3743,3744],{"class":891}," description",[149,3746,1051],{"class":155},[20,3748,3749,3750,3752],{},"以 ",[78,3751,506],{}," 为例：",[236,3754,3755,3765],{},[239,3756,3757],{},[242,3758,3759,3762],{},[245,3760,3761],{},"项目",[245,3763,3764],{},"含义",[255,3766,3767,3776,3788,3798,3806],{},[242,3768,3769,3773],{},[260,3770,3579,3771],{},[78,3772,444],{},[260,3774,3775],{},"输入值的 C++ 类型",[242,3777,3778,3783],{},[260,3779,3780,3781],{},"第一个参数 ",[78,3782,1444],{},[260,3784,3785,3786,490],{},"节点自己的端口名称，对应 XML 中的 ",[78,3787,489],{},[242,3789,3790,3795],{},[260,3791,3792,3793],{},"第二个参数 ",[78,3794,496],{},[260,3796,3797],{},"没有配置该输入时使用的默认值",[242,3799,3800,3803],{},[260,3801,3802],{},"第三个参数",[260,3804,3805],{},"端口的文字说明，用于描述接口，不参与距离计算",[242,3807,3808,3811],{},[260,3809,3810],{},"返回值",[260,3812,3813,3814,3816],{},"一项端口声明，由 ",[78,3815,502],{}," 收集后交给工厂",[20,3818,3819,3820,3823,3824,3827],{},"在 3.8.7 中，这个默认值重载需要三个参数；没有说明文字时可以把第三个参数写成 ",[78,3821,3822],{},"\"\"","。前面见过的两参数形式 ",[78,3825,3826],{},"InputPort\u003CT>(name, description)"," 中，第二个参数是说明文字，不能把两种重载混为一谈。",[20,3829,3830,3833,3834,3836,3837,3839,3840,3843,3844,3847],{},[78,3831,3832],{},"BT::BidirectionalPort\u003CPose2D>(\"goal\")"," 声明双向端口：模板参数指定 ",[78,3835,97],{}," 类型，第一个参数指定端口名；可选的第二个参数也是说明文字。它同样返回一项端口声明。",[78,3838,198],{}," 随后用 ",[78,3841,3842],{},"getInput\u003CPose2D>(\"goal\")"," 取得原值，再用 ",[78,3845,3846],{},"setOutput(\"goal\", goal)"," 写回修改后的值；声明双向端口本身不会执行读写。",[348,3849,3851],{"id":3850},"拆分文本与转换自定义类型的-api","拆分文本与转换自定义类型的 API",[20,3853,3854,3855,3857],{},"下面两个接口来自 ",[78,3856,541],{}," 命名空间：",[83,3859,3861],{"className":736,"code":3860,"language":738,"meta":89,"style":89},"std::vector\u003CBT::StringView> splitString(\n const BT::StringView& strToSplit, char delimeter);\n\ntemplate\u003Ctypename T>\nT convertFromString(BT::StringView str);\n",[78,3862,3863,3887,3912,3916,3928],{"__ignoreMap":89},[149,3864,3865,3867,3869,3872,3874,3876,3878,3880,3882,3885],{"class":151,"line":152},[149,3866,862],{"class":163},[149,3868,865],{"class":155},[149,3870,3871],{"class":163},"vector",[149,3873,156],{"class":155},[149,3875,541],{"class":163},[149,3877,865],{"class":155},[149,3879,3715],{"class":163},[149,3881,3701],{"class":155},[149,3883,3884],{"class":163},"splitString",[149,3886,3706],{"class":155},[149,3888,3889,3891,3893,3895,3897,3899,3902,3904,3907,3910],{"class":151,"line":193},[149,3890,1031],{"class":688},[149,3892,1289],{"class":163},[149,3894,865],{"class":155},[149,3896,3715],{"class":163},[149,3898,871],{"class":688},[149,3900,3901],{"class":891}," strToSplit",[149,3903,895],{"class":155},[149,3905,3906],{"class":688},"char",[149,3908,3909],{"class":891}," delimeter",[149,3911,1051],{"class":155},[149,3913,3914],{"class":151,"line":217},[149,3915,754],{"emptyLinePlaceholder":753},[149,3917,3918,3920,3922,3924,3926],{"class":151,"line":764},[149,3919,992],{"class":688},[149,3921,156],{"class":155},[149,3923,3440],{"class":688},[149,3925,3443],{"class":163},[149,3927,3446],{"class":155},[149,3929,3930,3932,3935,3937,3939,3941,3943,3946],{"class":151,"line":772},[149,3931,3503],{"class":163},[149,3933,3934],{"class":163}," convertFromString",[149,3936,880],{"class":155},[149,3938,541],{"class":163},[149,3940,865],{"class":155},[149,3942,3715],{"class":163},[149,3944,3945],{"class":891}," str",[149,3947,1051],{"class":155},[236,3949,3950,3960],{},[239,3951,3952],{},[242,3953,3954,3956,3958],{},[245,3955,3536],{},[245,3957,3539],{},[245,3959,3810],{},[255,3961,3962,3980,3998],{},[242,3963,3964,3969,3974],{},[260,3965,3966],{},[78,3967,3968],{},"splitString(text, ';')",[260,3970,3971,3972],{},"第一个参数是待拆分的文本；第二个参数是分隔字符 ",[78,3973,1048],{},[260,3975,3976,3979],{},[78,3977,3978],{},"std::vector\u003CBT::StringView>","，本例应得到 x、y、yaw 三个文本片段",[242,3981,3982,3987,3992],{},[260,3983,3984],{},[78,3985,3986],{},"convertFromString\u003Cdouble>(parts[0])",[260,3988,3579,3989,3991],{},[78,3990,444],{}," 指定目标类型；函数参数是一个数值文本片段",[260,3993,3994,3995,3997],{},"转换后的 ",[78,3996,444],{},"；无效文本会报告转换错误",[242,3999,4000,4005,4010],{},[260,4001,4002],{},[78,4003,4004],{},"convertFromString\u003CPose2D>(text)",[260,4006,3579,4007,4009],{},[78,4008,97],{}," 指定自定义类型；函数参数是完整的位姿文本",[260,4011,4012,4013,4015],{},"本例特化产生的 ",[78,4014,97],{},"；字段数量错误、数值无效等情况抛出异常",[20,4017,4018,4021],{},[78,4019,4020],{},"BT::StringView"," 是不拥有字符数据的字符串视图，拆分得到的片段仍引用原始文本。本例在转换函数内立即使用它们，不把这些视图保存为节点成员。",[20,4023,4024,4027,4028,4030,4031,4034,4035,4037],{},[78,4025,4026],{},"template \u003C>"," 表示为 ",[78,4029,97],{}," 提供这个函数模板的特化。节点读取 XML 固定文本时，",[78,4032,4033],{},"getInput\u003CPose2D>()"," 会通过库的转换机制调用它，主程序不需要再手动转换一次；从 Blackboard 读取已经保存的 ",[78,4036,97],{}," 时则直接取得对应类型的值。",[348,4039,4040],{"id":4040},"连续驱动行为树与辅助函数",[20,4042,4043,4046],{},[78,4044,4045],{},"tree.tickRootWhileRunning()"," 把重复 tick 的循环放在库内部，其原型为：",[83,4048,4050],{"className":736,"code":4049,"language":738,"meta":89,"style":89},"BT::NodeStatus tickRootWhileRunning(\n std::chrono::milliseconds sleep_time = std::chrono::milliseconds(10));\n",[78,4051,4052,4065],{"__ignoreMap":89},[149,4053,4054,4056,4058,4060,4063],{"class":151,"line":152},[149,4055,541],{"class":163},[149,4057,865],{"class":155},[149,4059,1498],{"class":163},[149,4061,4062],{"class":163}," tickRootWhileRunning",[149,4064,3706],{"class":155},[149,4066,4067,4070,4072,4075,4077,4080,4083,4085,4087,4089,4091,4093,4095,4097,4100],{"class":151,"line":193},[149,4068,4069],{"class":163}," std",[149,4071,865],{"class":155},[149,4073,4074],{"class":163},"chrono",[149,4076,865],{"class":155},[149,4078,4079],{"class":163},"milliseconds",[149,4081,4082],{"class":891}," sleep_time",[149,4084,3424],{"class":688},[149,4086,1318],{"class":163},[149,4088,865],{"class":155},[149,4090,4074],{"class":163},[149,4092,865],{"class":155},[149,4094,4079],{"class":163},[149,4096,880],{"class":155},[149,4098,4099],{"class":1072},"10",[149,4101,4102],{"class":155},"));\n",[20,4104,4105,4106,4109,4110,4113,4114,4117,4118,54],{},"唯一的可选参数 ",[78,4107,4108],{},"sleep_time"," 表示两次 tick 之间的最长等待时间，默认 10 毫秒。本例省略它。\n函数先执行一次根 tick；只有结果为 ",[78,4111,4112],{},"RUNNING"," 时才等待并继续 tick，直到得到最终结果，返回 ",[78,4115,4116],{},"BT::NodeStatus","。\n本例全部是同步节点，正常情况下第一次根 tick 就得到 ",[78,4119,4120],{},"SUCCESS",[20,4122,4123],{},"程序中另外几个辅助接口可以按下面理解：",[236,4125,4126,4136],{},[239,4127,4128],{},[242,4129,4130,4133],{},[245,4131,4132],{},"写法",[245,4134,4135],{},"参数与结果",[255,4137,4138,4158,4172,4185],{},[242,4139,4140,4145],{},[260,4141,4142],{},[78,4143,4144],{},"name()",[260,4146,4147,4148,4151,4152,30,4155],{},"节点成员函数，无参数，返回当前实例名称的 ",[78,4149,4150],{},"const std::string&","；本例两个打印节点分别叫 ",[78,4153,4154],{},"computed",[78,4156,4157],{},"literal",[242,4159,4160,4165],{},[260,4161,4162],{},[78,4163,4164],{},"std::isfinite(value)",[260,4166,4167,4168,4171],{},"传入一个浮点数，返回 ",[78,4169,4170],{},"bool","，检查它是否为有限值",[242,4173,4174,4182],{},[260,4175,4176,42,4179],{},[78,4177,4178],{},"std::cos(yaw)",[78,4180,4181],{},"std::sin(yaw)",[260,4183,4184],{},"传入以弧度表示的角度，返回余弦、正弦值，用于分解前进距离",[242,4186,4187,4195],{},[260,4188,4189,42,4192],{},[78,4190,4191],{},"std::fixed",[78,4193,4194],{},"std::setprecision(2)",[260,4196,4197,4198,4200],{},"前者设置固定小数格式，后者的参数 ",[78,4199,1163],{}," 指定显示两位小数；只改变输出格式，不改变 Blackboard 中的数据",[348,4202,651],{"id":4203},"treesmissionxml",[83,4205,4207],{"className":143,"code":4206,"language":145,"meta":89,"style":89},"\u003Croot main_tree_to_execute=\"MainTree\">\n \u003CBehaviorTree ID=\"MainTree\">\n \u003CSequence name=\"goal_pipeline\">\n \u003CCalculateGoal start=\"{robot_pose}\"\n distance=\"{travel_distance}\"\n goal=\"{mission_goal}\"\u002F>\n \u003COffsetGoal goal=\"{mission_goal}\" offset_x=\"0.5\"\u002F>\n \u003CPrintGoal name=\"computed\" target=\"{mission_goal}\"\u002F>\n \u003CPrintGoal name=\"literal\" target=\"2.0;3.0;1.57\"\u002F>\n \u003C\u002FSequence>\n \u003C\u002FBehaviorTree>\n\u003C\u002Froot>\n",[78,4208,4209,4226,4243,4260,4274,4284,4295,4315,4336,4358,4367,4376],{"__ignoreMap":89},[149,4210,4211,4213,4216,4219,4221,4224],{"class":151,"line":152},[149,4212,156],{"class":155},[149,4214,4215],{"class":159},"root",[149,4217,4218],{"class":163}," main_tree_to_execute",[149,4220,167],{"class":155},[149,4222,4223],{"class":170},"\"MainTree\"",[149,4225,3446],{"class":155},[149,4227,4228,4231,4234,4237,4239,4241],{"class":151,"line":193},[149,4229,4230],{"class":155}," \u003C",[149,4232,4233],{"class":159},"BehaviorTree",[149,4235,4236],{"class":163}," ID",[149,4238,167],{"class":155},[149,4240,4223],{"class":170},[149,4242,3446],{"class":155},[149,4244,4245,4248,4251,4253,4255,4258],{"class":151,"line":217},[149,4246,4247],{"class":155}," \u003C",[149,4249,4250],{"class":159},"Sequence",[149,4252,1328],{"class":163},[149,4254,167],{"class":155},[149,4256,4257],{"class":170},"\"goal_pipeline\"",[149,4259,3446],{"class":155},[149,4261,4262,4265,4267,4269,4271],{"class":151,"line":764},[149,4263,4264],{"class":155}," \u003C",[149,4266,160],{"class":159},[149,4268,164],{"class":163},[149,4270,167],{"class":155},[149,4272,4273],{"class":170},"\"{robot_pose}\"\n",[149,4275,4276,4279,4281],{"class":151,"line":772},[149,4277,4278],{"class":163}," distance",[149,4280,167],{"class":155},[149,4282,4283],{"class":170},"\"{travel_distance}\"\n",[149,4285,4286,4289,4291,4293],{"class":151,"line":780},[149,4287,4288],{"class":163}," goal",[149,4290,167],{"class":155},[149,4292,187],{"class":170},[149,4294,190],{"class":155},[149,4296,4297,4299,4301,4303,4305,4307,4309,4311,4313],{"class":151,"line":788},[149,4298,4264],{"class":155},[149,4300,198],{"class":159},[149,4302,182],{"class":163},[149,4304,167],{"class":155},[149,4306,187],{"class":170},[149,4308,207],{"class":163},[149,4310,167],{"class":155},[149,4312,212],{"class":170},[149,4314,190],{"class":155},[149,4316,4317,4319,4321,4323,4325,4328,4330,4332,4334],{"class":151,"line":796},[149,4318,4264],{"class":155},[149,4320,222],{"class":159},[149,4322,1328],{"class":163},[149,4324,167],{"class":155},[149,4326,4327],{"class":170},"\"computed\"",[149,4329,225],{"class":163},[149,4331,167],{"class":155},[149,4333,187],{"class":170},[149,4335,190],{"class":155},[149,4337,4338,4340,4342,4344,4346,4349,4351,4353,4356],{"class":151,"line":801},[149,4339,4264],{"class":155},[149,4341,222],{"class":159},[149,4343,1328],{"class":163},[149,4345,167],{"class":155},[149,4347,4348],{"class":170},"\"literal\"",[149,4350,225],{"class":163},[149,4352,167],{"class":155},[149,4354,4355],{"class":170},"\"2.0;3.0;1.57\"",[149,4357,190],{"class":155},[149,4359,4360,4363,4365],{"class":151,"line":810},[149,4361,4362],{"class":155}," \u003C\u002F",[149,4364,4250],{"class":159},[149,4366,3446],{"class":155},[149,4368,4369,4372,4374],{"class":151,"line":816},[149,4370,4371],{"class":155}," \u003C\u002F",[149,4373,4233],{"class":159},[149,4375,3446],{"class":155},[149,4377,4378,4381,4383],{"class":151,"line":825},[149,4379,4380],{"class":155},"\u003C\u002F",[149,4382,4215],{"class":159},[149,4384,3446],{"class":155},[20,4386,4387,4388,4390,4391,4394,4395,4397],{},"两个 ",[78,4389,222],{}," 是同一 C++ 类型的不同实例。",[78,4392,4393],{},"name"," 帮助区分输出，",[78,4396,296],{}," 则分别配置为 Blackboard 引用和固定文本。",[69,4399],{},[12,4401,4403],{"id":4402},"在-vscode-中运行并跟踪数据变化","在 VSCode 中运行并跟踪数据变化",[20,4405,4406,4407,4410,4411,4414,4415,4418,4419,54],{},"保存所有修改后，在新窗口的 CMake 面板中选择 ",[62,4408,4409],{},"Linux Debug","，对应 ",[78,4412,4413],{},"linux-debug"," Configure 预设，再点击 ",[62,4416,4417],{},"Configure","。确认配置成功后，选择同名的 Build 预设并点击 ",[62,4420,4421],{},"Build",[17,4423,4424],{},[20,4425,4426,4429,4430,4432],{},[62,4427,4428],{},"截图预留：bt_ports 配置和构建成功。"," 展示当前 ",[78,4431,4413],{}," 预设、构建成功信息，以及新工程名。",[20,4434,4435,4436,4439,4440,4442,4443,4445,4446,4448],{},"在 ",[62,4437,4438],{},"Launch"," 中选择 ",[78,4441,590],{},"，点击运行按钮，在集成终端中查看输出。新窗口的运行目标应是 ",[78,4444,590],{},"，与上一篇的 ",[78,4447,586],{}," 区分开。",[17,4450,4451],{},[20,4452,4453,4456],{},[62,4454,4455],{},"截图预留：选择 bt_ports 运行目标。"," 展示 CMake Tools 的 Launch 目标和运行按钮。",[20,4458,4459],{},"预期输出：",[83,4461,4464],{"className":4462,"code":4463,"language":88,"meta":89},[86],"[CalculateGoal] distance=2.00, goal=(3.00, 2.00, 0.00)\n[OffsetGoal] goal=(3.50, 2.00, 0.00)\n[PrintGoal:computed] target=(3.50, 2.00, 0.00)\n[PrintGoal:literal] target=(2.00, 3.00, 1.57)\nTree result: SUCCESS\n[main] mission_goal=(3.50, 2.00, 0.00)\n",[78,4465,4463],{"__ignoreMap":89},[20,4467,4468],{},[655,4469],{"alt":89,"src":4470},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1792396719064-b3803148.webp",[20,4472,4473,4474,4477,4478,4481,4482,4485],{},"本篇完整工程已在 Ubuntu 22.04 的 ",[78,4475,4476],{},"ysu_ros_humble"," 容器中，使用 ",[62,4479,4480],{},"C++20、CMake 3.22.1、GCC 11.4"," 和已安装的 ",[62,4483,4484],{},"BehaviorTree.CPP 3.8.7"," 编译运行验证；固定值、默认值、缺失输入和错误格式等对照也已检查。配置沿用上一篇，测试使用临时 Ninja 和工程副本。",[20,4487,4488],{},"数据变化可以对应到每一步：",[236,4490,4491,4504],{},[239,4492,4493],{},[242,4494,4495,4498,4501],{},[245,4496,4497],{},"执行位置",[245,4499,4500],{},"读取什么",[245,4502,4503],{},"写入或使用什么",[255,4505,4506,4524,4539,4554,4568,4583],{},[242,4507,4508,4513,4516],{},[260,4509,4510,4512],{},[78,4511,3351],{}," 初始化",[260,4514,4515],{},"编辑器中设置的模拟距离、示例位姿",[260,4517,4518,30,4521],{},[78,4519,4520],{},"robot_pose",[78,4522,4523],{},"travel_distance",[242,4525,4526,4530,4533],{},[260,4527,4528],{},[78,4529,160],{},[260,4531,4532],{},"起点与距离",[260,4534,4535,4536],{},"写入 ",[78,4537,4538],{},"mission_goal = (3.0, 2.0, 0.0)",[242,4540,4541,4545,4548],{},[260,4542,4543],{},[78,4544,198],{},[260,4546,4547],{},"已有目标与 x 偏移",[260,4549,4550,4551],{},"更新 ",[78,4552,4553],{},"mission_goal = (3.5, 2.0, 0.0)",[242,4555,4556,4561,4565],{},[260,4557,4558],{},[78,4559,4560],{},"PrintGoal:computed",[260,4562,4563],{},[78,4564,309],{},[260,4566,4567],{},"打印当前值",[242,4569,4570,4575,4578],{},[260,4571,4572],{},[78,4573,4574],{},"PrintGoal:literal",[260,4576,4577],{},"XML 固定文本",[260,4579,4580,4581],{},"转换后打印，不修改 ",[78,4582,309],{},[242,4584,4585,4590,4594],{},[260,4586,4587,4589],{},[78,4588,3351],{}," 读取结果",[260,4591,4592],{},[78,4593,309],{},[260,4595,4596],{},"取得树计算后的目标",[20,4598,4599,4600,4603],{},"所有节点都是快速同步动作，本次序列在一次根节点 tick 内完成。",[62,4601,4602],{},"Sequence 负责先后顺序，Ports 与 Blackboard 负责传值","；共同映射到一个键不会自动安排生产者先执行。",[20,4605,4606,4607,4609,4610,4612],{},"与上一篇相同，程序使用构建配置提供的 ",[78,4608,722],{},"，自动读取当前源码工程的 ",[78,4611,651],{},"。在 CMake Tools 中启动程序时，直接使用同一份文件，无需另外设置 XML 路径参数。",[348,4614,4616],{"id":4615},"改变外部输入节点取得新的数值","改变外部输入，节点取得新的数值",[20,4618,4619,4620,264,4622,4624],{},"保持 XML 不变，在编辑器中将 ",[78,4621,648],{},[78,4623,3351],{}," 内模拟距离改为：",[83,4626,4628],{"className":736,"code":4627,"language":738,"meta":89,"style":89},"const double distance = 4.0;\n",[78,4629,4630],{"__ignoreMap":89},[149,4631,4632,4634,4636,4638,4640,4643],{"class":151,"line":152},[149,4633,898],{"class":688},[149,4635,2858],{"class":688},[149,4637,1547],{"class":155},[149,4639,167],{"class":688},[149,4641,4642],{"class":1072}," 4.0",[149,4644,961],{"class":155},[20,4646,4647,4648,4651],{},"保存后点击 ",[62,4649,4650],{},"Build → Launch","。这里改的是 C++，因此需要先重新构建。",[20,4653,4654,4655,4658,4659,54,4662,4664,4665,4667,4668,4670],{},"这次先计算出 ",[78,4656,4657],{},"(5.0, 2.0, 0.0)","，再偏移到 ",[78,4660,4661],{},"(5.5, 2.0, 0.0)",[78,4663,4154],{}," 实例和 ",[78,4666,3351],{}," 都取得新结果，",[78,4669,4157],{}," 实例仍打印 XML 中的固定坐标。",[20,4672,4673],{},[655,4674],{"alt":89,"src":4675},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1792396770690-68183273.webp",[20,4677,4678,4679,4681],{},"对照完成后，将模拟距离恢复为 ",[78,4680,2960],{}," 并点击 Build，后面继续使用初始设置。",[20,4683,4684],{},"这里每次运行程序都会重新建立 Blackboard。\n程序持续运行时，也可以由外部更新输入，再发起下一次任务；\n应让更新与树执行有明确的调度关系，本例没有引入并发读写。",[348,4686,4688],{"id":4687},"在-xml-中切换距离来源","在 XML 中切换距离来源",[20,4690,4691,4692,264,4694,4696],{},"将 ",[78,4693,160],{},[78,4695,489],{}," 属性改为固定文本：",[83,4698,4700],{"className":143,"code":4699,"language":145,"meta":89,"style":89},"\u003CCalculateGoal start=\"{robot_pose}\" distance=\"3.0\" goal=\"{mission_goal}\"\u002F>\n",[78,4701,4702],{"__ignoreMap":89},[149,4703,4704,4706,4708,4710,4712,4714,4716,4718,4721,4723,4725,4727],{"class":151,"line":152},[149,4705,156],{"class":155},[149,4707,160],{"class":159},[149,4709,164],{"class":163},[149,4711,167],{"class":155},[149,4713,171],{"class":170},[149,4715,174],{"class":163},[149,4717,167],{"class":155},[149,4719,4720],{"class":170},"\"3.0\"",[149,4722,182],{"class":163},[149,4724,167],{"class":155},[149,4726,187],{"class":170},[149,4728,190],{"class":155},[20,4730,4731,4732,4734,4735,4737,4738,4741,4742,4744],{},"保存 ",[78,4733,651],{}," 后再次点击 ",[62,4736,4438],{},"，计算节点使用 3 米，最终目标为 ",[78,4739,4740],{},"(4.5, 2.0, 0.0)","。外部程序仍然写入 ",[78,4743,4523],{},"，但该节点已不再从这个条目读取距离。",[20,4746,4747,4748,4750],{},"如果完全省略 ",[78,4749,489],{}," 属性：",[83,4752,4754],{"className":143,"code":4753,"language":145,"meta":89,"style":89},"\u003CCalculateGoal start=\"{robot_pose}\" goal=\"{mission_goal}\"\u002F>\n",[78,4755,4756],{"__ignoreMap":89},[149,4757,4758,4760,4762,4764,4766,4768,4770,4772,4774],{"class":151,"line":152},[149,4759,156],{"class":155},[149,4761,160],{"class":159},[149,4763,164],{"class":163},[149,4765,167],{"class":155},[149,4767,171],{"class":170},[149,4769,182],{"class":163},[149,4771,167],{"class":155},[149,4773,187],{"class":170},[149,4775,190],{"class":155},[20,4777,4778,4779,4782,4783,4785,4786,54],{},"则使用声明的默认值 1 米，最终目标为 ",[78,4780,4781],{},"(2.5, 2.0, 0.0)","。这两种修改都只调整 XML，保存后点击 ",[62,4784,4438],{}," 即可，无需手动先点 Build。继续后面的示例前，可以恢复主示例的 ",[78,4787,478],{},[20,4789,4790],{},[655,4791],{"alt":89,"src":4792},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002F1792396952511-9fed2457.webp",[348,4794,4795],{"id":4795},"用断点观察目标被读取和写回",[20,4797,4798,4799,4801,4802,4805,4806,4809,4810,54],{},"恢复主示例的距离和 XML 配置，保存并点击 ",[62,4800,4421],{},"。\n在 ",[78,4803,4804],{},"CalculateGoal::tick()"," 打印目标的语句处，以及 ",[78,4807,4808],{},"OffsetGoal::tick()"," 打印目标的语句处分别设置断点，再点击 CMake Tools 的 ",[62,4811,4812],{},"Debug",[20,4814,4815,4816,4818,4819,4821,4822,4825,4826,4829],{},"第一次暂停时，在变量窗口展开本地变量 ",[78,4817,267],{},"，可以看到 ",[78,4820,126],{},"；按 ",[78,4823,4824],{},"F5"," 继续到偏移节点的断点，同名本地变量的 x 坐标已经变成 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