diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..05aafbc --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,33 @@ +name: C++ CI + +on: + push: + branches: [ main ] + pull_request: + branches: [ main ] + +jobs: + build-and-test: + runs-on: ubuntu-latest + container: + image: ros:noetic-ros-base + + steps: + - uses: actions/checkout@v2 + - name: Setup Environment + run: | + sudo apt-get update + sudo apt-get install -y cmake g++ ninja-build + + - name: Configure and Build + run: | + ./opt/ros/noetic/setup.sh + mkdir build + cd build + cmake -DBUILD_TESTS=ON -DCATKIN_BUILD_BINARY_PACKAGE=OFF .. + cmake --build . -j8 + + - name: Run tests + run: | + cd build + ctest diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..640d438 --- /dev/null +++ b/.gitignore @@ -0,0 +1,61 @@ +.vscode +__pycache__ +*.pyc +*idea +*dist* +*egg-info +devel/ +build/ +*.bag +*.bj +doxygen/ +*cmake-build-debug* +*cmake-build-release* +*cmake-build* + +# Folders +BUILD/ +Debug/ +Realese/ + +# Thirdparty folders which are +# downloaded during build (not submodules) + +# Build results +*.user + +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +# OS X specific +*.DS_Store +.DS_Store +.DS_Store? + +install_script.zsh diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..987b759 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.11) +project(behavior_tree) + +if(BUILD_TESTS) + message(STATUS "Tests building is enabled.") + enable_testing() +endif() + +include(CMakePackageConfigHelpers) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF) + +#################################################################### +## ADD ALL THE SUB-PROJECTS ## +#################################################################### + +add_subdirectory(behavior_tree) +add_subdirectory(evo_behavior_tree) diff --git a/README.md b/README.md index c9eacad..005591f 100644 --- a/README.md +++ b/README.md @@ -1 +1,22 @@ -# behavior_tree \ No newline at end of file +# Behavior Tree Framework Libraries + +Behavior Tree is a framework for writing a control architecture for any mission +execution system. + +## Provided packages + +1. **`evo-behavior-tree`** - behavior tree library package. No dependencies except for STL. +2. **`ros-melodic-evo-behavior-tree`** - ROS wrapper library for the behavior + tree framework. Created as a static library. + +> See _behavior-tree_ and _evo-behavior-tree_ folders for more information about +> the libraries and the installation process. + +## License + +MIT + +## Maintainers + +- Evgeniy Safronov +- Maksim Kulikov diff --git a/behavior_tree/CMakeLists.txt b/behavior_tree/CMakeLists.txt new file mode 100644 index 0000000..8b9cf7c --- /dev/null +++ b/behavior_tree/CMakeLists.txt @@ -0,0 +1,109 @@ +cmake_minimum_required(VERSION 3.10) +file(STRINGS VERSION CURRENT_VERSION) +project(behavior_tree VERSION ${CURRENT_VERSION}) + + +file(GLOB_RECURSE SOURCES_CPP_LIBRARY ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp) +file(GLOB_RECURSE SOURCES_C_LIBRARY ${CMAKE_CURRENT_SOURCE_DIR}/src/*.c) + +list(APPEND SOURCES_LIBRARY ${SOURCES_C_LIBRARY}) +list(APPEND SOURCES_LIBRARY ${SOURCES_CPP_LIBRARY}) + +add_library(${PROJECT_NAME} SHARED ${SOURCES_LIBRARY}) + +target_include_directories( + ${PROJECT_NAME} + PUBLIC $ + $ +) + +#################################################################### +## INSTALL LIBRARY ## +#################################################################### + +string(TOUPPER ${PROJECT_NAME} COMPONENT_NAME) +string(REPLACE "_" "" COMPONENT_NAME ${COMPONENT_NAME}) + +install( + TARGETS ${PROJECT_NAME} + EXPORT ${PROJECT_NAME}Targets + LIBRARY DESTINATION lib/evocargo + COMPONENT ${COMPONENT_NAME} + RUNTIME DESTINATION bin + COMPONENT ${COMPONENT_NAME} +) + +install( + DIRECTORY include/${PROJECT_NAME} + DESTINATION include/evocargo + COMPONENT ${COMPONENT_NAME} +) + +#################################################################### +## CREATE / INSTALL CMAKE CONFIGS ## +#################################################################### + +configure_package_config_file( + ${CMAKE_CURRENT_SOURCE_DIR}/conf/${PROJECT_NAME}Config.cmake.in + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake + INSTALL_DESTINATION "lib/cmake/${PROJECT_NAME}" +) + +write_basic_package_version_file( + "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" + VERSION ${PROJECT_VERSION} + COMPATIBILITY SameMajorVersion +) + +install( + EXPORT ${PROJECT_NAME}Targets + FILE ${PROJECT_NAME}Targets.cmake + DESTINATION lib/cmake/${PROJECT_NAME} + COMPONENT ${COMPONENT_NAME} +) + +install( + FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake + ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake + DESTINATION lib/cmake/${PROJECT_NAME} + COMPONENT ${COMPONENT_NAME} +) + +#################################################################### +## CPACK CONFIGURATION ## +#################################################################### + +set(CPACK_GENERATOR "DEB") +set(CPACK_DEB_COMPONENT_INSTALL ON) +set(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX}) + +string(REPLACE "_" "-" DASH_PROJECT_NAME ${PROJECT_NAME}) + +set(CPACK_PACKAGE_NAME ${DASH_PROJECT_NAME}) +set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION}) + +set(CPACK_COMPONENTS_ALL ${COMPONENT_NAME}) +set(CPACK_DEBIAN_${COMPONENT_NAME}_PACKAGE_NAME ${DASH_PROJECT_NAME}) + +set(CPACK_DEBIAN_PACKAGE_MAINTAINER + "Evgeniy Safronov " +) +set(CPACK_PACKAGE_DESCRIPTION_SUMMARY + "Behavior Tree framework." +) +set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT) +set(CPACK_RESOURCE_FILE_README ${CMAKE_CURRENT_SOURCE_DIR}/README.md) + +set(CPACK_OUTPUT_CONFIG_FILE + "${CMAKE_BINARY_DIR}/configs/${PROJECT_NAME}_Config.cmake" +) + +include(CPack) + +#################################################################### +## ASSEMBLE LIBRARY WITH TESTS ## +#################################################################### + +if(BUILD_TESTS) + add_subdirectory(test) +endif() diff --git a/behavior_tree/README.md b/behavior_tree/README.md new file mode 100644 index 0000000..378f779 --- /dev/null +++ b/behavior_tree/README.md @@ -0,0 +1,29 @@ +# ROS-independent BehaviorTree library + +Behavior Tree framework for building mission execution systems. + +## Installation + +Before installation add Evocargo repository to system source list. Then install +the _behavior-tree_ package: + +``` +sudo apt update +sudo apt install behavior-tree +``` + +## Usage example + +Install the library and write your own wrapper on it. As an example you can look +at the provided ROS wrapper - the evo_behavior_tree package (in the directory +with the same name). + +## License + +Copyright (c) Evocargo LLC, all rights reserved. + +## Maintainers + +- Evgeniy Safronov +- Tamash Fazli +- Alexey Ratnikov diff --git a/behavior_tree/VERSION b/behavior_tree/VERSION new file mode 100644 index 0000000..3eefcb9 --- /dev/null +++ b/behavior_tree/VERSION @@ -0,0 +1 @@ +1.0.0 diff --git a/behavior_tree/conf/behavior_treeConfig.cmake.in b/behavior_tree/conf/behavior_treeConfig.cmake.in new file mode 100644 index 0000000..4645403 --- /dev/null +++ b/behavior_tree/conf/behavior_treeConfig.cmake.in @@ -0,0 +1,10 @@ +# This file exports CMake target which should be passed to the +# target_link_libraries command. + +@PACKAGE_INIT@ + +include(CMakeFindDependencyMacro) + +include("${CMAKE_CURRENT_LIST_DIR}/behavior_treeTargets.cmake") + +set (behavior_tree_FOUND 1) diff --git a/behavior_tree/include/behavior_tree/behavior_tree.h b/behavior_tree/include/behavior_tree/behavior_tree.h new file mode 100644 index 0000000..2ca6d13 --- /dev/null +++ b/behavior_tree/include/behavior_tree/behavior_tree.h @@ -0,0 +1,53 @@ +#pragma once + +#include "nodes/behavior_node.h" // Ensure correct path to the behavior node header +#include "nodes/status.h" // Include the Status class for handling node statuses +#include + +namespace evo::behavior { + +/** + * @brief Represents a behavior tree, managing the execution of a hierarchical + * structure of nodes that control decision making and behavior. + */ +class BehaviorTree { +public: + /** + * @brief Constructs a new BehaviorTree object with a specified root node. + * + * @param root The root node of the behavior tree, where execution starts. + */ + explicit BehaviorTree(BehaviorPtr root); + + /** + * @brief Default constructor for an empty BehaviorTree, intended for delayed + * initialization. + */ + BehaviorTree() = default; + + /** + * @brief Sets the root node of the behavior tree. + * + * @param root The root node to set, starting point for tree execution. + */ + virtual void set_root(BehaviorPtr root); + + /** + * @brief Runs the behavior tree starting from the root node. + * + * @return Status The status of the behavior tree execution. Returns + * Status::Failure if no root is set. + */ + Status run(); + + /** + * @brief Virtual destructor to ensure proper cleanup in derived classes. + */ + virtual ~BehaviorTree() = default; + +private: + /// The root node of the behavior tree. + BehaviorPtr root_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/bt_base.h b/behavior_tree/include/behavior_tree/bt_base.h new file mode 100644 index 0000000..c7ed331 --- /dev/null +++ b/behavior_tree/include/behavior_tree/bt_base.h @@ -0,0 +1,5 @@ +#pragma once + +#include "behavior_tree.h" +#include "bt_factory.h" +#include "nodes/status.h" diff --git a/behavior_tree/include/behavior_tree/bt_factory.h b/behavior_tree/include/behavior_tree/bt_factory.h new file mode 100644 index 0000000..c1e5d0b --- /dev/null +++ b/behavior_tree/include/behavior_tree/bt_factory.h @@ -0,0 +1,226 @@ +#pragma once + +#include "nodes/action.h" +#include "nodes/condition.h" +#include "nodes/decorators/not.h" +#include "nodes/fallback.h" +#include "nodes/fallback_memory.h" +#include "nodes/if_then.h" +#include "nodes/if_then_else.h" +#include "nodes/latch.h" +#include "nodes/parallel.h" +#include "nodes/sequence.h" +#include "nodes/sequence_memory.h" +#include "nodes/skipper.h" +#include "nodes/try_else.h" + +/** + * @brief This namespace contains functions for creating all types of behavior + * tree nodes. + * + */ + +namespace evo::behavior::bt_factory { + +/** + * @brief Function overload that takes all the arguments as BehaviorPtr. Only + * for use within this namespace. + * + * @tparam Args BehaviorPtr. + * @param first_The first child node. + * @param args Other child nodes. + * @return auto A pair: parent node description - child nodes. + */ +template +[[nodiscard]] auto make_children_array(BehaviorPtr first_behavior, + Args... args) { + return std::make_pair("", BehaviorNode::Children{first_behavior, args...}); +} + +/** + * @brief Function overload that takes the first argument as a description and + * the other arguments as BehaviorPtr. Only for use within this namespace. + * + * @tparam Args BehaviorPtr + * @param description A text description of a parent node. + * @param args Child nodes. + * @return auto A pair: parent node description - child nodes. + */ +template +[[nodiscard]] auto make_children_array(const std::string &description, + Args... args) { + return std::make_pair(description, BehaviorNode::Children{args...}); +} + +/** + * @brief Creates an action node. + * + * @param behavior An action the node should execute. + * @param description A text description. + * @return BehaviorPtr An action node. + */ +[[nodiscard]] inline BehaviorPtr action(std::function behavior, + std::string const &description = "") { + return std::make_shared(behavior, description); +} + +/** + * @brief Creates a condition node with a Status-returning behavior. + * + * @param behavior A condition the node should check, returning a Status. + * @param description A text description. + * @return BehaviorPtr A condition node. + */ +[[nodiscard]] inline BehaviorPtr +condition(std::function behavior, + std::string const &description = "") { + return std::make_shared(behavior, description); +} + +/** + * @brief Creates a sequence node. + * + * @tparam Args BehaviorPtr. + * @param args A description and/or child nodes. + * @return BehaviorPtr A sequence node. + */ +template +[[nodiscard]] BehaviorPtr sequence(Args... args) { + auto [description, children] = make_children_array(args...); + return std::make_shared(description, children); +} + +/** + * @brief Creates a fallback node. + * + * @tparam Args BehaviorPtr. + * @param args A description and/or child nodes. + * @return BehaviorPtr A fallback node. + */ +template +[[nodiscard]] BehaviorPtr fallback(Args... args) { + auto [description, children] = make_children_array(args...); + return std::make_shared(description, children); +} + +/** + * @brief Creates a sequence with memory node. + * + * @tparam Args BehaviorPtr. + * @param args A description and/or child nodes. + * @return BehaviorPtr A sequence with memory node. + */ +template +[[nodiscard]] BehaviorPtr sequence_memory(Args... args) { + auto [description, children] = make_children_array(args...); + return std::make_shared(description, children); +} + +/** + * @brief Creates a fallback with memory node. + * + * @tparam Args BehaviorPtr. + * @param args A description and/or child nodes. + * @return BehaviorPtr A fallback with memory node. + */ +template +[[nodiscard]] BehaviorPtr fallback_memory(Args... args) { + auto [description, children] = make_children_array(args...); + return std::make_shared(description, children); +} + +/** + * @brief Creates a skipper node. + * + * @tparam Args BehaviorPtr. + * @param args A description and/or child nodes. + * @return BehaviorPtr A skipper node. + */ +template +[[nodiscard]] BehaviorPtr skipper(Args... args) { + auto [description, children] = make_children_array(args...); + return std::make_shared(description, children); +} + +/** + * @brief Creates a parallel node. + * + * @tparam Args BehaviorPtr. + * @param args A description and/or child nodes. + * @return BehaviorPtr A parallel node. + */ +template +[[nodiscard]] BehaviorPtr parallel(Args... args) { + auto [description, children] = make_children_array(args...); + return std::make_shared(description, children); +} + + /** + * @brief Creates a latch node and the relevant unlatch one. + * + * @param child Latch node's child node. + * @return std::pair A pair of latch and unlatch + * nodes. + */ + [[nodiscard]] inline std::pair< + BehaviorPtr, BehaviorPtr> latch_and_unlatch(BehaviorPtr child) { + auto latch = std::make_shared(child, false); + return {latch, latch->make_unlatcher()}; +} + +/** + * @brief Creates a not node. + * + * @param child The child node whose result will be inverted. + * @return BehaviorPtr A not node. + */ +[[nodiscard]] inline BehaviorPtr not_(BehaviorPtr child) { + return std::make_shared(child); +} + +/** + * @brief Creates a "try else" node. + * + * @param description A text description. + * @param try_node The node try branch starts with. + * @param else_node The node else branch starts with. + * @return BehaviorPtr A "try else" node + */ +[[nodiscard]] inline BehaviorPtr try_else(const std::string &description, + BehaviorPtr try_node, + BehaviorPtr else_node) { + return std::make_shared(description, try_node, else_node); +} + +/** + * @brief Creates an "if then" node. + * + * @param description A text description. + * @param if_node The node if branch starts with. + * @param then_node The node then branch stars with. + * @return BehaviorPtr An "if then" node. + */ +[[nodiscard]] inline BehaviorPtr if_then(const std::string &description, + BehaviorPtr if_node, + BehaviorPtr then_node) { + return std::make_shared(description, if_node, then_node); +} + +/** + * @brief Creates an "if then else" node. + * + * @param description A text description. + * @param if_node The node if branch starts with. + * @param then_node The node then branch starts with. + * @param else_node The node else branch starts with. + * @return BehaviorPtr An "if then else" node starts with. + */ +[[nodiscard]] inline BehaviorPtr if_then_else(const std::string &description, + BehaviorPtr if_node, + BehaviorPtr then_node, + BehaviorPtr else_node) { + return std::make_shared(description, if_node, then_node, + else_node); +} + +} // namespace evo::behavior::bt_factory diff --git a/behavior_tree/include/behavior_tree/nodes/action.h b/behavior_tree/include/behavior_tree/nodes/action.h new file mode 100644 index 0000000..5ead277 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/action.h @@ -0,0 +1,56 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Include the Status class header +#include +#include +#include + +namespace evo::behavior { + +/** + * @brief Represents a leaf node which executes some code when calling + * operator() and reports success unless an exception occurs. + * + */ +class Action : public BehaviorNode { +public: + /** + * @brief Constructs a new Action object. + * + * @param behavior A function to be executed by this node. This function does + * not return a value. + * @param description A text description for behavior tree viewer. + */ + Action(std::function behavior, std::string const &description); + + /** + * @brief Default constructor, deleted to enforce providing behavior and + * description. + */ + Action() = delete; + + /** + * @brief Copy constructor. + */ + Action(Action const &) = default; + + /** + * @brief Copy assignment operator. + */ + Action &operator=(Action const &) = default; + + /** + * @brief Executes the node's logic. + * + * @return Status::Success if the behavior executes without throwing an + * exception, otherwise Status::Failure. + */ + Status operator()() override; + +private: + /// The node's logic to be executed, does not return a value. + std::function behavior_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/behavior_node.h b/behavior_tree/include/behavior_tree/nodes/behavior_node.h new file mode 100644 index 0000000..db20231 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/behavior_node.h @@ -0,0 +1,102 @@ +#pragma once + +#include "status.h" // Include the Status class header +#include +#include +#include + +namespace evo::behavior { + +class BehaviorNode; +using BehaviorPtr = std::shared_ptr; + +/** + * @brief Base class for all the node types of behavior tree. + * + * This class represents a behavior node that can execute a specific behavior + * and return a status indicating the outcome of that behavior. + */ +class BehaviorNode { +public: + using Children = std::vector; + + /** + * @brief Constructs a new Behavior Node object with detailed specifications. + * + * @param type The type of the node. + * @param description A text description for behavior tree viewer. + * @param args Child nodes. + */ + template + BehaviorNode(const std::string &type, const std::string &description, + Args... args) + : type_(type), description_(description), children_{args...} {} + + /** + * @brief Default constructor for Behavior Node, deleted to enforce explicit + * initialization. + */ + BehaviorNode() = delete; + + /** + * @brief Copy constructor. + */ + BehaviorNode(const BehaviorNode &) = default; + + /** + * @brief Copy assignment operator. + */ + BehaviorNode &operator=(const BehaviorNode &) = default; + + /** + * @brief Virtual destructor for safe polymorphic use. + */ + virtual ~BehaviorNode() = default; + + /** + * @brief Executes the derived node's logic. + * + * @return Status indicating the outcome of the behavior. + */ + virtual Status operator()() = 0; + + /** + * @brief Returns the node's type. + * + * @return const std::string& The node's type. + */ + const std::string &type() const; + + /** + * @brief Returns the node's description. + * + * @return const std::string& The node's description. + */ + const std::string &description() const; + + /** + * @brief Returns the node's child nodes. + * + * @return const Children& A vector of child nodes. + */ + const Children &children() const; + + /** + * @brief Resets node state to its initial condition, if applicable. + * + * This function resets the state of the node and its children, which is + * particularly useful in behavior trees where nodes may be executed multiple + * times with stateful behavior. + */ + virtual void reset(); + +private: + /// The node's type. + std::string type_; + /// The node's description. + std::string description_; + /// The node's child nodes. + Children children_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/condition.h b/behavior_tree/include/behavior_tree/nodes/condition.h new file mode 100644 index 0000000..fe8cc0c --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/condition.h @@ -0,0 +1,40 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Ensure the Status class is included correctly +#include +#include + +namespace evo::behavior { + +/** + * @brief Represents a leaf node which executes some logic when called and + * returns a Status. + * + * This class embodies a condition within a behavior tree, typically used to + * decide which path the tree should take. + */ +class Condition : public BehaviorNode { +public: + /** + * @brief Constructs a new Condition object. + * + * @param condition A function to be executed by this node. This function + * should now return a Status to indicate the result more clearly. + * @param description A text description for behavior tree viewer. + */ + Condition(std::function condition, const std::string &description); + + /** + * @brief Executes the node's logic. + * + * @return Status depending on the condition logic. + */ + Status operator()() override; + +private: + /// The node's logic to be executed, adjusted to return a Status. + std::function condition_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/decorators/not.h b/behavior_tree/include/behavior_tree/nodes/decorators/not.h new file mode 100644 index 0000000..541fff5 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/decorators/not.h @@ -0,0 +1,34 @@ +#pragma once + +#include "../behavior_node.h" +#include "../status.h" +#include + +namespace evo::behavior { + +/** + * @brief A decorator node that inverts the result of its child node. + * + * This node has one child and inverts the result of this child node: + * - SUCCESS becomes FAILURE + * - FAILURE becomes SUCCESS + * - RUNNING remains RUNNING + */ +class Not : public BehaviorNode { +public: + /** + * @brief Constructs a new Not decorator node with a child node. + * + * @param child The child node whose result will be inverted. + */ + explicit Not(BehaviorPtr child); + + /** + * @brief Executes the child node and inverts its result. + * + * @return Status The inverted status of the child node. + */ + Status operator()() override; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/fallback.h b/behavior_tree/include/behavior_tree/nodes/fallback.h new file mode 100644 index 0000000..ef5750c --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/fallback.h @@ -0,0 +1,37 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains child nodes and calls them + * sequentially until one of them returns Status::Success. + * + * If a child returns Status::Success, the Fallback node immediately returns + * Status::Success. If all children return Status::Failure, the Fallback node + * returns Status::Failure. This node is designed for use in behavior trees + * where fallback (selector) logic is required. + */ +class Fallback : public BehaviorNode { +public: + /** + * @brief Constructs a new Fallback object. + * + * @param description A text description for behavior tree viewer. + * @param children Child nodes. + */ + Fallback(const std::string &description, const Children &children); + + /** + * @brief Executes the node's logic. + * + * @return Status::Success if any child node returns Status::Success. + * @return Status::Failure if all child nodes return Status::Failure. + */ + Status operator()() override; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/fallback_memory.h b/behavior_tree/include/behavior_tree/nodes/fallback_memory.h new file mode 100644 index 0000000..744342e --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/fallback_memory.h @@ -0,0 +1,47 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Ensure the Status class is included correctly +#include +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains child nodes and calls them + * sequentially until any of the child nodes returns Status::Success. If a child + * returns Status::Failure, it will not be called again in the next tick. The + * FallbackMemory node resets to start from the first child after every tick, + * regardless of the outcome. You can manually reset the iteration sequence by + * calling the reset() method. + * + */ +class FallbackMemory : public BehaviorNode { +public: + /** + * @brief Constructs a new FallbackMemory object. + * + * @param description A text description for behavior tree viewer. + * @param children Child nodes. + */ + FallbackMemory(const std::string &description, const Children &children); + + /** + * @brief Executes the node's logic. + * + * @return Status::Success if any of the child nodes returns Status::Success. + * @return Status::Failure if all child nodes return Status::Failure. + */ + Status operator()() override; + + /** + * @brief Resets the iteration over child nodes to the beginning. + */ + void reset() override; + +private: + /// Iterator to keep track of the current child being processed. + Children::const_iterator current_child_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/if_then.h b/behavior_tree/include/behavior_tree/nodes/if_then.h new file mode 100644 index 0000000..09cdc20 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/if_then.h @@ -0,0 +1,21 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" +#include + +namespace evo::behavior { + +class IfThen : public BehaviorNode { +public: + IfThen(const std::string &description, BehaviorPtr if_node, + BehaviorPtr then_node); + + Status operator()() override; + +private: + BehaviorPtr if_node_; + BehaviorPtr then_node_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/if_then_else.h b/behavior_tree/include/behavior_tree/nodes/if_then_else.h new file mode 100644 index 0000000..5039dbe --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/if_then_else.h @@ -0,0 +1,50 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Ensure the Status class is included correctly +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which functions like a classical + * if-then-else operator in programming, executing child nodes based on the + * condition evaluated by the 'if' node. + * + * This class provides a way to conditionally execute different branches of a + * behavior tree, enhancing the decision-making capabilities of the system. + */ +class IfThenElse : public BehaviorNode { +public: + /** + * @brief Constructs a new IfThenElse object with specific child nodes for + * 'if', 'then', and 'else' branches. + * + * @param description A text description for behavior tree viewer. + * @param if_node The node that evaluates the condition. + * @param then_node The node that is executed if the condition is true + * (returns Status::Success). + * @param else_node The node that is executed if the condition is false + * (returns Status::Failure). + */ + IfThenElse(const std::string &description, BehaviorPtr if_node, + BehaviorPtr then_node, BehaviorPtr else_node); + + /** + * @brief Executes the node's logic based on the 'if' condition's result. + * + * @return Status::Success or Status::Failure based on the execution outcome + * of the 'then' or 'else' node. + */ + Status operator()() override; + +private: + /// Pointer to the node that evaluates the "if" condition. + BehaviorPtr if_node_; + /// Pointer to the node that is executed if the "if" condition is true. + BehaviorPtr then_node_; + /// Pointer to the node that is executed if the "if" condition is false. + BehaviorPtr else_node_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/latch.h b/behavior_tree/include/behavior_tree/nodes/latch.h new file mode 100644 index 0000000..982766b --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/latch.h @@ -0,0 +1,54 @@ +#pragma once + +#include "action.h" +#include "behavior_node.h" +#include "status.h" +#include +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains one child node and maintains + * its state until explicitly unlatched. + * + * This node calls its child node once and retains the result until it is + * unlatched. This behavior is useful in scenarios where a condition needs to + * persist until an external change occurs. + */ +class Latch : public BehaviorNode { +public: + /** + * @brief Constructs a new Latch object with an initial latched state. + * + * @param child The child node to be executed. + * @param latched Indicates if the node starts in a latched state, defaulting + * to false. + */ + Latch(BehaviorPtr child, bool latched = false); + + /** + * @brief Executes the child's logic once until the latch is released. + * + * @return Status The status of the child node if it runs, otherwise the last + * result while latched. + */ + Status operator()() override; + + /** + * @brief Creates an action which unlatches the node, allowing it to + * re-evaluate its child node. + * + * @return BehaviorPtr An action node that unlatches this node. + */ + BehaviorPtr make_unlatcher(); + +private: + /// Indicates whether the node is currently latched. + bool latched_; + /// Stores the last result of the child node. + Status last_result_ = + Status::Failure; // Default to failure unless proven otherwise +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/parallel.h b/behavior_tree/include/behavior_tree/nodes/parallel.h new file mode 100644 index 0000000..97e2e62 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/parallel.h @@ -0,0 +1,41 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Ensure the Status class is included correctly +#include +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains child nodes and calls ALL of + * them sequentially, regardless of the result. The node returns the most + * significant result among children, prioritizing Status::Running over other + * statuses. + * + * This node behaves like a sequence node but evaluates all children every tick, + * and it may return Status::Running if any child is still running, otherwise it + * returns Status::Success only if all children succeed. + */ +class Parallel : public BehaviorNode { +public: + /** + * @brief Constructs a new Parallel object with a descriptive label and a set + * of child nodes. + * + * @param description A text description for behavior tree viewer. + * @param children Child nodes to be executed in parallel. + */ + Parallel(const std::string &description, const Children &children); + + /** + * @brief Executes the node's logic. + * + * @return Status::Running if any child is still running, Status::Success if + * all children succeed, or Status::Failure if any child fails but none are + * running. + */ + Status operator()() override; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/sequence.h b/behavior_tree/include/behavior_tree/nodes/sequence.h new file mode 100644 index 0000000..1970c23 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/sequence.h @@ -0,0 +1,38 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Include the Status class for standardized status handling +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains child nodes and executes them + * sequentially. The execution stops and returns Status::Failure if any child + * node returns Status::Failure. If a child returns Status::Running, the + * sequence will pause and resume from that child on the next execution call. + * + * @details This node is designed to mimic the behavior of a logical AND + * operation where all children must succeed for the sequence to succeed. + */ +class Sequence : public BehaviorNode { +public: + /** + * @brief Constructs a new Sequence object with a list of child nodes. + * + * @param description A text description for behavior tree viewer. + * @param children Child nodes that form the sequence. + */ + Sequence(const std::string &description, const Children &children); + + /** + * @brief Executes the node's logic sequentially across the child nodes. + * + * @return Status::Success if all child nodes return Status::Success, + * Status::Failure if any child node returns Status::Failure, + * and Status::Running if execution is paused on a running child. + */ + Status operator()() override; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/sequence_memory.h b/behavior_tree/include/behavior_tree/nodes/sequence_memory.h new file mode 100644 index 0000000..54da0cb --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/sequence_memory.h @@ -0,0 +1,48 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Ensure the Status class is included correctly +#include +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains child nodes and calls them + * sequentially, remembering the last successfully executed child. Execution + * resumes from the last successful child on the next call unless reset. + * + * If a child returns Status::Failure, the sequence stops and this status is + * returned. If all children return Status::Success, then Status::Success is + * returned. If any child returns Status::Running, the sequence pauses and will + * continue from this child on the next tick. + */ +class SequenceMemory : public BehaviorNode { +public: + /** + * @brief Constructs a new SequenceMemory object with a list of child nodes. + * + * @param description A text description for behavior tree viewer. + * @param children Child nodes that form the sequence. + */ + SequenceMemory(const std::string &description, const Children &children); + + /** + * @brief Executes the node's logic sequentially across child nodes. + * + * @return Status::Success if all children succeed, Status::Failure if any + * fail, or Status::Running if the execution is paused. + */ + Status operator()() override; + + /** + * @brief Resets the sequence to start from the first child node. + */ + void reset() override; + +private: + /// Iterator to track the current child being executed. + Children::const_iterator current_child_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/skipper.h b/behavior_tree/include/behavior_tree/nodes/skipper.h new file mode 100644 index 0000000..55ca167 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/skipper.h @@ -0,0 +1,41 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Include the Status class for status handling +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains child nodes and calls them + * sequentially. It skips over children that are still running and returns the + * first definitive success or failure status it encounters. If all children are + * running, it returns Status::Running. + * + * @details This node is designed for scenarios where child nodes may be + * operations that need to be attempted but can be skipped if not immediately + * successful or ready. + */ +class Skipper : public BehaviorNode { +public: + /** + * @brief Constructs a new Skipper object with a descriptive label and a set + * of child nodes. + * + * @param description A text description for behavior tree viewer. + * @param children Child nodes that form the sequence. + */ + Skipper(const std::string &description, const Children &children); + + /** + * @brief Executes the node's logic sequentially across the child nodes, + * skipping those that are running. + * + * @return Status::Success if any child node returns Status::Success, + * Status::Failure if any child node returns Status::Failure, + * and Status::Running if all children are running. + */ + Status operator()() override; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/status.h b/behavior_tree/include/behavior_tree/nodes/status.h new file mode 100644 index 0000000..e8f94f3 --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/status.h @@ -0,0 +1,41 @@ +#pragma once + +#include // Include for ostream operator + +namespace evo::behavior { + +/** + * @brief A class to represent status with three states: Success, Failure, and + * Running. + * + */ +class Status { +public: + enum State { FAILURE, SUCCESS, RUNNING }; + + Status(bool success); + Status(State state); + Status(const Status &other); + Status(Status &&other) noexcept; + Status &operator=(const Status &other); + Status &operator=(Status &&other) noexcept; + operator bool() const; + operator State() const; + + bool operator==(const Status &other) const; + + bool operator!=(const Status &other) const; + + bool operator==(const State &state) const; + bool operator!=(const State &state) const; + static const Status Success; + static const Status Failure; + static const Status Running; + + friend std::ostream &operator<<(std::ostream &os, const Status &status); + +private: + State state_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/include/behavior_tree/nodes/try_else.h b/behavior_tree/include/behavior_tree/nodes/try_else.h new file mode 100644 index 0000000..d660e1a --- /dev/null +++ b/behavior_tree/include/behavior_tree/nodes/try_else.h @@ -0,0 +1,48 @@ +#pragma once + +#include "behavior_node.h" +#include "status.h" // Ensure the Status class is included correctly +#include + +namespace evo::behavior { + +/** + * @brief Represents a control node which contains two child nodes. The node + * attempts to execute the 'try_node' first; if the 'try_node' fails, it + * executes the 'else_node'. This structure is similar to a try-catch logic in + * programming, where the 'else_node' acts as an emergency or fallback + * procedure. + * + * @details The node returns Status::Success if 'try_node' succeeds, + * Status::Failure if both 'try_node' and 'else_node' fail, and Status::Running + * if any child node is still in progress. + */ +class TryElse : public BehaviorNode { +public: + /** + * @brief Constructs a new TryElse object with a normal and an emergency + * behavior subtree. + * + * @param description A text description for behavior tree viewer. + * @param try_node The first node to attempt. + * @param else_node The node to execute if the try_node fails. + */ + TryElse(const std::string &description, BehaviorPtr try_node, + BehaviorPtr else_node); + + /** + * @brief Executes the node's logic. + * + * @return Status::Success if the try_node succeeds, Status::Failure if both + * nodes fail, and Status::Running if execution is not complete. + */ + Status operator()() override; + +private: + /// The child node representing the normal case. + BehaviorPtr try_node_; + /// The child node representing the emergency case. + BehaviorPtr else_node_; +}; + +} // namespace evo::behavior diff --git a/behavior_tree/src/behavior_tree.cpp b/behavior_tree/src/behavior_tree.cpp new file mode 100644 index 0000000..ad51b21 --- /dev/null +++ b/behavior_tree/src/behavior_tree.cpp @@ -0,0 +1,19 @@ +#include "behavior_tree/behavior_tree.h" // Include the BehaviorTree class declaration +#include "behavior_tree/nodes/behavior_node.h" // Ensure correct path to the behavior node header +#include "behavior_tree/nodes/status.h" // Include the Status class for handling node statuses +#include + +namespace evo::behavior { + +BehaviorTree::BehaviorTree(BehaviorPtr root) : root_(root) {} + +void BehaviorTree::set_root(BehaviorPtr root) { root_ = root; } + +Status BehaviorTree::run() { + if (!root_) { + return Status::Failure; // Return failure if there is no root node set + } + return (*root_)(); // Execute the root node and return its status +} + +} // namespace evo::behavior \ No newline at end of file diff --git a/behavior_tree/src/nodes/action.cpp b/behavior_tree/src/nodes/action.cpp new file mode 100644 index 0000000..1695bc6 --- /dev/null +++ b/behavior_tree/src/nodes/action.cpp @@ -0,0 +1,26 @@ +#include +#include + +namespace evo::behavior { + +Action::Action(std::function behavior, std::string const &description) + : BehaviorNode("action", description), behavior_(behavior) {} + +Status Action::operator()() { + try { + behavior_(); + } catch (const std::exception &e) { + // In case of an exception, log it with the description of the action. + std::cout << "Exception in behavior action '" << description() + << "': " << e.what() << std::endl; + return Status::Failure; + } catch (...) { + // Catch any other exceptions and log with the description of the action. + std::cout << "Unknown exception in behavior action '" << description() + << "'." << std::endl; + return Status::Failure; + } + return Status::Success; // Return Success only if no exception is thrown +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/behavior_node.cpp b/behavior_tree/src/nodes/behavior_node.cpp new file mode 100644 index 0000000..b9c1ba9 --- /dev/null +++ b/behavior_tree/src/nodes/behavior_node.cpp @@ -0,0 +1,19 @@ +#include + +namespace evo::behavior { + +void BehaviorNode::reset() { + for (auto const &child : children()) { + child->reset(); + } +} + +const std::string &BehaviorNode::type() const { return type_; } + +const std::string &BehaviorNode::description() const { return description_; } + +const BehaviorNode::Children &BehaviorNode::children() const { + return children_; +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/condition.cpp b/behavior_tree/src/nodes/condition.cpp new file mode 100644 index 0000000..16a5853 --- /dev/null +++ b/behavior_tree/src/nodes/condition.cpp @@ -0,0 +1,24 @@ +#include +#include + +namespace evo::behavior { + +Condition::Condition(std::function condition, + const std::string &description) + : BehaviorNode("condition", description), condition_(condition) {} + +Status Condition::operator()() { + try { + return condition_(); + } catch (const std::exception &e) { + std::cerr << "Exception in behavior condition '" << description() + << "': " << e.what() << std::endl; + return Status::Failure; + } catch (...) { + std::cerr << "Unknown exception in behavior condition '" << description() + << "'." << std::endl; + return Status::Failure; + } +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/decorators/not.cpp b/behavior_tree/src/nodes/decorators/not.cpp new file mode 100644 index 0000000..c1ec5f4 --- /dev/null +++ b/behavior_tree/src/nodes/decorators/not.cpp @@ -0,0 +1,23 @@ +#include "behavior_tree/nodes/decorators/not.h" + +namespace evo::behavior { + +Not::Not(BehaviorPtr child) + : BehaviorNode("not", "Inverting " + child->description(), child) {} + +Status Not::operator()() { + auto &child_node = children().front(); + Status result = (*child_node)(); + switch (Status::State(result)) { + case Status::SUCCESS: + return Status::Failure; + case Status::FAILURE: + return Status::Success; + case Status::RUNNING: + return Status::Running; + default: + return Status::Failure; // Default case to handle unexpected status + } +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/fallback.cpp b/behavior_tree/src/nodes/fallback.cpp new file mode 100644 index 0000000..ce1edbf --- /dev/null +++ b/behavior_tree/src/nodes/fallback.cpp @@ -0,0 +1,22 @@ +#include "behavior_tree/nodes/fallback.h" +#include +namespace evo::behavior { + +Fallback::Fallback(const std::string &description, const Children &children) + : BehaviorNode("fallback", description, children) {} + +Status Fallback::operator()() { + int child_index = 0; + for (const auto &child : children()) { + Status result = (*child)(); + std::cout << "Child index: " << child_index << ", Status: " << result + << std::endl; + if (result != Status::Failure) { + return result; // Early exit if any child succeeds + } + ++child_index; + } + return Status::Failure; // Return failure if no child succeeds +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/fallback_memory.cpp b/behavior_tree/src/nodes/fallback_memory.cpp new file mode 100644 index 0000000..7d3e43c --- /dev/null +++ b/behavior_tree/src/nodes/fallback_memory.cpp @@ -0,0 +1,31 @@ +#include "behavior_tree/nodes/fallback_memory.h" + +namespace evo::behavior { + +FallbackMemory::FallbackMemory(const std::string &description, + const Children &children) + : BehaviorNode("fallback_memory", description, children), + current_child_(this->children().begin()) {} + +Status FallbackMemory::operator()() { + // Start from the current child and evaluate until one succeeds or all are + // evaluated + while (current_child_ != children().end()) { + Status child_status = (**current_child_)(); + if (child_status != Status::FAILURE) { + return child_status; + } + current_child_++; + } + reset(); // Ensure the next call starts from the first child + return Status::FAILURE; // All children failed, return Failure +} + +void FallbackMemory::reset() { + current_child_ = children().begin(); + for (auto const &child : children()) { + child->reset(); // Reset each child's state + } +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/if_then.cpp b/behavior_tree/src/nodes/if_then.cpp new file mode 100644 index 0000000..cd69b2c --- /dev/null +++ b/behavior_tree/src/nodes/if_then.cpp @@ -0,0 +1,21 @@ +#include "behavior_tree/nodes/if_then.h" + +namespace evo::behavior { + +IfThen::IfThen(const std::string &description, BehaviorPtr if_node, + BehaviorPtr then_node) + : BehaviorNode("if_then", description), if_node_(std::move(if_node)), + then_node_(std::move(then_node)) {} + +Status IfThen::operator()() { + Status condition_status = (*if_node_)(); + if (condition_status == Status::Success) { + return (*then_node_)(); + } + if (condition_status == Status::Running) { + return Status::Running; + } + return Status::Success; // Returns success if the condition is not met +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/if_then_else.cpp b/behavior_tree/src/nodes/if_then_else.cpp new file mode 100644 index 0000000..bca0817 --- /dev/null +++ b/behavior_tree/src/nodes/if_then_else.cpp @@ -0,0 +1,21 @@ +#include "behavior_tree/nodes/if_then_else.h" + +namespace evo::behavior { + +IfThenElse::IfThenElse(const std::string &description, BehaviorPtr if_node, + BehaviorPtr then_node, BehaviorPtr else_node) + : BehaviorNode("if_then_else", description), if_node_(std::move(if_node)), + then_node_(std::move(then_node)), else_node_(std::move(else_node)) {} + +Status IfThenElse::operator()() { + Status condition_status = (*if_node_)(); + if (condition_status == Status::Success) { + return (*then_node_)(); + } else if (condition_status == Status::Failure) { + return (*else_node_)(); + } else { + return Status::Running; + } +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/latch.cpp b/behavior_tree/src/nodes/latch.cpp new file mode 100644 index 0000000..f89ce2d --- /dev/null +++ b/behavior_tree/src/nodes/latch.cpp @@ -0,0 +1,23 @@ +#include "behavior_tree/nodes/latch.h" + +namespace evo::behavior { + +Latch::Latch(BehaviorPtr child, bool latched) + : BehaviorNode("latch", "Latching " + child->description(), child), + latched_(latched) {} + +Status Latch::operator()() { + if (!latched_) { + auto &child_node = children().front(); + last_result_ = (*child_node)(); + latched_ = true; // Latch after the first successful execution + } + return last_result_; +} + +BehaviorPtr Latch::make_unlatcher() { + return std::make_shared([this] { latched_ = false; }, + "Unlatching " + description()); +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/parallel.cpp b/behavior_tree/src/nodes/parallel.cpp new file mode 100644 index 0000000..c265935 --- /dev/null +++ b/behavior_tree/src/nodes/parallel.cpp @@ -0,0 +1,22 @@ +#include "behavior_tree/nodes/parallel.h" +#include "behavior_tree/nodes/status.h" // Ensure the Status class is included correctly +namespace evo::behavior { + +Parallel::Parallel(const std::string &description, const Children &children) + : BehaviorNode("parallel", description, children) {} + +Status Parallel::operator()() { + bool all_success = true; + for (const auto &child : children()) { + Status result = (*child)(); + if (result == Status::Running) { + return Status::Running; // Immediate return if any child is running + } + if (result == Status::Failure) { + all_success = false; // Mark failure but continue evaluating all children + } + } + return all_success ? Status::Success : Status::Failure; +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/sequence.cpp b/behavior_tree/src/nodes/sequence.cpp new file mode 100644 index 0000000..df9a402 --- /dev/null +++ b/behavior_tree/src/nodes/sequence.cpp @@ -0,0 +1,18 @@ +#include "behavior_tree/nodes/sequence.h" + +namespace evo::behavior { + +Sequence::Sequence(const std::string &description, const Children &children) + : BehaviorNode("sequence", description, children) {} + +Status Sequence::operator()() { + for (auto &child : children()) { + Status result = (*child)(); + if (result != Status::Success) { + return result; + } + } + return Status::Success; // All children succeeded +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/sequence_memory.cpp b/behavior_tree/src/nodes/sequence_memory.cpp new file mode 100644 index 0000000..8052df0 --- /dev/null +++ b/behavior_tree/src/nodes/sequence_memory.cpp @@ -0,0 +1,33 @@ +#include "behavior_tree/nodes/sequence_memory.h" +#include + +namespace evo::behavior { + +SequenceMemory::SequenceMemory(const std::string &description, + const Children &children) + : BehaviorNode("sequence_memory", description, children), + current_child_(this->children().begin()) {} + +Status SequenceMemory::operator()() { + for (; current_child_ != children().end(); ++current_child_) { + Status child_status = (**current_child_)(); + std::cout << child_status << std::endl; + if (child_status != Status::SUCCESS) { + // Return running or failure immediately + return child_status; + } + } + // If all children succeeded and we reached the end, reset for the next run + // and return success + reset(); + return Status::SUCCESS; +} + +void SequenceMemory::reset() { + current_child_ = children().begin(); + for (auto const &child : children()) { + child->reset(); + } +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/skipper.cpp b/behavior_tree/src/nodes/skipper.cpp new file mode 100644 index 0000000..53b8a80 --- /dev/null +++ b/behavior_tree/src/nodes/skipper.cpp @@ -0,0 +1,19 @@ +#include "behavior_tree/nodes/skipper.h" + +namespace evo::behavior { + +Skipper::Skipper(const std::string &description, const Children &children) + : BehaviorNode("skipper", description, children) {} + +Status Skipper::operator()() { + for (const auto &child : children()) { + Status result = (*child)(); + if (result != Status::Running) { + return result; + } + } + return Status::Running; // Return running if all children are running, else + // return failure +} + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/status.cpp b/behavior_tree/src/nodes/status.cpp new file mode 100644 index 0000000..ac90167 --- /dev/null +++ b/behavior_tree/src/nodes/status.cpp @@ -0,0 +1,78 @@ +#include "behavior_tree/nodes/status.h" +#include + +namespace evo::behavior { + +Status::Status(bool success) : state_(success ? SUCCESS : FAILURE) { + // std::cout << "Constructed Status with bool: " << success << " resulting + // state: " << state_ << std::endl; +} + +Status::Status(State state) : state_(state) { + // std::cout << "Constructed Status with State: " << state << std::endl; +} + +Status::Status(const Status &other) : state_(other.state_) { + // std::cout << "Copy constructed Status with state: " << other.state_ << + // std::endl; +} + +Status::Status(Status &&other) noexcept : state_(other.state_) { + // std::cout << "Move constructed Status with state: " << other.state_ << + // std::endl; +} + +Status &Status::operator=(const Status &other) { + if (this != &other) { + state_ = other.state_; + // std::cout << "Copy assigned Status from state: " << other.state_ << " to + // state: " << state_ << std::endl; + } + return *this; +} + +Status &Status::operator=(Status &&other) noexcept { + if (this != &other) { + state_ = other.state_; + // std::cout << "Move assigned Status from state: " << other.state_ << " to + // state: " << state_ << std::endl; + } + return *this; +} + +Status::operator bool() const { return state_ == SUCCESS; } +Status::operator State() const { return state_; } + +bool Status::operator==(const State &state) const { return state_ == state; } +bool Status::operator!=(const State &state) const { return state_ != state; } + +bool Status::operator==(const Status &other) const { + return state_ == other.state_; +} + +bool Status::operator!=(const Status &other) const { + return state_ != other.state_; +} +std::ostream &operator<<(std::ostream &os, const Status &status) { + switch (status.state_) { + case Status::FAILURE: + os << "FAILURE"; + break; + case Status::SUCCESS: + os << "SUCCESS"; + break; + case Status::RUNNING: + os << "RUNNING"; + break; + default: + os << "UNKNOWN"; + } + return os; +} + +// Definition of static members +const Status Status::Success(Status::SUCCESS); +const Status Status::Failure(Status::FAILURE); +const Status Status::Running(Status::RUNNING); + +} // namespace evo::behavior diff --git a/behavior_tree/src/nodes/try_else.cpp b/behavior_tree/src/nodes/try_else.cpp new file mode 100644 index 0000000..d8672af --- /dev/null +++ b/behavior_tree/src/nodes/try_else.cpp @@ -0,0 +1,28 @@ +#include "behavior_tree/nodes/try_else.h" +#include "behavior_tree/nodes/status.h" // Ensure the Status class is included correctly +namespace evo::behavior { + +TryElse::TryElse(const std::string &description, BehaviorPtr try_node, + BehaviorPtr else_node) + : BehaviorNode("try_else", description, try_node, else_node), + try_node_(try_node), else_node_(else_node) {} + +Status TryElse::operator()() { + Status try_status = (*try_node_)(); + if (try_status == Status::Success) { + return Status::Success; // Return success immediately if try_node succeeds + } + if (try_status == Status::Running) { + return Status::Running; // Return running if the try_node is still in + // progress + } + // Execute else_node if try_node fails + Status else_status = (*else_node_)(); + if (else_status == Status::Running) { + return Status::Running; // Return running if the else_node is still in + // progress + } + return else_status; // Return the status of the else_node (success or failure) +} + +} // namespace evo::behavior diff --git a/behavior_tree/test/CMakeLists.txt b/behavior_tree/test/CMakeLists.txt new file mode 100644 index 0000000..64ea711 --- /dev/null +++ b/behavior_tree/test/CMakeLists.txt @@ -0,0 +1,41 @@ +#################################################################### +## ASSEMBLE ALL THE TESTS ## +include(FetchContent) +FetchContent_Declare(gtest + QUIET + URL https://github.com/google/googletest/archive/release-1.10.0.tar.gz +) +# configure build of googletest +set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) +set(BUILD_GMOCK OFF CACHE BOOL "" FORCE) +FetchContent_MakeAvailable(gtest) + +include(GoogleTest) + +set(TEST_PROJECT ${PROJECT_NAME}_test) + +file(GLOB_RECURSE SOURCES_CPP_TEST ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp) + +add_executable( + ${TEST_PROJECT} + ${SOURCES_CPP_TEST} +) + + +target_include_directories( + ${TEST_PROJECT} + PUBLIC $ +) + + +target_link_libraries( + ${TEST_PROJECT} + PRIVATE + ${PROJECT_NAME} + PUBLIC + GTest::gtest + GTest::gmock +) + +message(STATUS "Discovering tests.") +gtest_discover_tests(${TEST_PROJECT}) diff --git a/behavior_tree/test/examples/state.cpp b/behavior_tree/test/examples/state.cpp new file mode 100644 index 0000000..7d61037 --- /dev/null +++ b/behavior_tree/test/examples/state.cpp @@ -0,0 +1,211 @@ +#include "../include/behavior_tree/bt_base.h" +#include + +using namespace ::testing; +using namespace evo::behavior; +using namespace evo::behavior::bt_factory; + +class PickAndPlace { +public: + PickAndPlace() + : is_pick_successful(false), is_place_successful(false), + is_robot_initialized(false), pick_position_x(0.0), pick_position_y(0.0), + pick_position_z(0.0), place_position_x(0.0), place_position_y(0.0), + place_position_z(0.0) { + constructBehaviorTree(); + } + + void setPickPosition(double x, double y, double z) { + pick_position_x = x; + pick_position_y = y; + pick_position_z = z; + } + + void setPlacePosition(double x, double y, double z) { + place_position_x = x; + place_position_y = y; + place_position_z = z; + } + + void setPickSuccess(bool successful) { is_pick_successful = successful; } + + void setPlaceSuccess(bool successful) { is_place_successful = successful; } + + void setRobotInitialization(bool initialized) { + is_robot_initialized = initialized; + } + + void run() { bt.run(); } + + virtual void initializeRobot() = 0; + virtual void pickObject(double x, double y, double z) = 0; + virtual void placeObject(double x, double y, double z) = 0; + virtual void resetRobot(){}; + + bool is_pick_successful; + bool is_place_successful; + bool is_robot_initialized; + + virtual ~PickAndPlace() { + resetRobot(); // Ensure the robot is reset when the State object is + // destroyed + } + +protected: + double pick_position_x; + double pick_position_y; + double pick_position_z; + double place_position_x; + double place_position_y; + double place_position_z; + + void constructBehaviorTree() { + auto init_robot_action = + action([this]() { initializeRobot(); }, "Initialize Robot Action"); + + auto is_robot_inited = condition([this]() { return is_robot_initialized; }, + "Check Robot Initialized"); + + auto pick_object_action = action( + [this]() { + pickObject(pick_position_x, pick_position_y, pick_position_z); + }, + "Pick Object Action"); + + auto is_object_picked = condition([this]() { return is_pick_successful; }, + "Check Pick Successful"); + + auto place_object_action = action( + [this]() { + placeObject(place_position_x, place_position_y, place_position_z); + }, + "Place Object Action"); + + auto is_object_placed = condition([this]() { return is_place_successful; }, + "Check Place Successful"); + + // clang-format off + auto root = + sequence( + fallback( + is_robot_inited, + init_robot_action + ), + sequence_memory( + fallback( + is_object_picked, + sequence( + pick_object_action, + is_object_picked + ) + ), + fallback( + is_object_placed, + sequence( + place_object_action, + is_object_placed + ) + ) + ) + ); + // clang-format on + bt.set_root(root); + } + + BehaviorTree bt; +}; +class PickAndPlaceMock : public PickAndPlace { +public: + PickAndPlaceMock() { + is_robot_initialized = false; + is_pick_successful = false; + is_place_successful = false; + } + + void initializeRobot() override { is_robot_initialized = true; } + + void pickObject(double x, double y, double z) override { + if (x != 0 && y != 0 && z != 0) { // Dummy condition to simulate success + is_pick_successful = true; + } + } + + void placeObject(double x, double y, double z) override { + if (x != 0 && y != 0 && z != 0) { // Dummy condition to simulate success + is_place_successful = true; + } + } + + void resetRobot() {} +}; + +TEST(PickAndPlaceMockTest, InitializeRobot) { + PickAndPlaceMock pick_and_place; + pick_and_place.initializeRobot(); + ASSERT_TRUE(pick_and_place.is_robot_initialized); +} + +TEST(PickAndPlaceMockTest, PickObjectSuccess) { + PickAndPlaceMock pick_and_place; + pick_and_place.pickObject(1.0, 1.0, 1.0); // Coordinates that simulate success + ASSERT_TRUE(pick_and_place.is_pick_successful); +} + +TEST(PickAndPlaceMockTest, PickObjectFailure) { + PickAndPlaceMock pick_and_place; + pick_and_place.pickObject(0, 0, 0); // Coordinates that simulate failure + ASSERT_FALSE(pick_and_place.is_pick_successful); +} + +TEST(PickAndPlaceMockTest, PlaceObjectSuccess) { + PickAndPlaceMock pick_and_place; + pick_and_place.placeObject(1.0, 1.0, + 1.0); // Coordinates that simulate success + ASSERT_TRUE(pick_and_place.is_place_successful); +} + +TEST(PickAndPlaceMockTest, PlaceObjectFailure) { + PickAndPlaceMock pick_and_place; + pick_and_place.placeObject(0, 0, 0); // Coordinates that simulate failure + ASSERT_FALSE(pick_and_place.is_place_successful); +} + +TEST(PickAndPlaceMockTest, Logic1) { + PickAndPlaceMock pick_and_place; + ASSERT_FALSE(pick_and_place.is_pick_successful); + ASSERT_FALSE(pick_and_place.is_place_successful); + ASSERT_FALSE(pick_and_place.is_robot_initialized); + + pick_and_place.run(); + + ASSERT_FALSE(pick_and_place.is_pick_successful); + ASSERT_FALSE(pick_and_place.is_place_successful); + ASSERT_TRUE(pick_and_place.is_robot_initialized); + + pick_and_place.run(); + + // coords are zero and dummy action does not set success for picking + ASSERT_FALSE(pick_and_place.is_pick_successful); + ASSERT_FALSE(pick_and_place.is_place_successful); + ASSERT_TRUE(pick_and_place.is_robot_initialized); + + pick_and_place.setPickPosition(1.0, 1.0, 1.0); + + pick_and_place.run(); + + // picking is ok + // placing coords are zero and dummy action does not set success for picking + ASSERT_TRUE(pick_and_place.is_pick_successful); + ASSERT_FALSE(pick_and_place.is_place_successful); + ASSERT_TRUE(pick_and_place.is_robot_initialized); + + pick_and_place.setPlacePosition(2.0, 2.0, 2.0); + + pick_and_place.run(); + + // picking is ok + // placing is ok + ASSERT_TRUE(pick_and_place.is_pick_successful); + ASSERT_TRUE(pick_and_place.is_place_successful); + ASSERT_TRUE(pick_and_place.is_robot_initialized); +} diff --git a/behavior_tree/test/examples/substates.cpp b/behavior_tree/test/examples/substates.cpp new file mode 100644 index 0000000..7d11efd --- /dev/null +++ b/behavior_tree/test/examples/substates.cpp @@ -0,0 +1,272 @@ +#include "../include/behavior_tree/bt_base.h" +#include +#include +#include + +using namespace ::testing; +using namespace evo::behavior; +using namespace evo::behavior::bt_factory; + +struct Task { + double x; + double y; + double z; +}; + +class PickAndPlaceArm { + +public: + bool is_pick_successful; + bool is_place_successful; + bool is_gripper_free; + std::optional pick; + std::optional place; + + virtual void pickObject(const Task &task) = 0; + virtual void placeObject(const Task &task) = 0; + + PickAndPlaceArm() + : is_pick_successful(false), is_place_successful(false), + is_gripper_free(true), pick(std::nullopt), place(std::nullopt) {} + + virtual ~PickAndPlaceArm() {} + + void setPickTask(const Task &task) { + pick = task; + is_pick_successful = false; // Reset pick success state + } + + void setPlaceTask(const Task &task) { + place = task; + is_place_successful = false; // Reset place success state + } + void clearPickTask() { pick = std::nullopt; } + + void clearPlaceTask() { place = std::nullopt; } + + BehaviorPtr make_subtree() { + // clang-format off + + auto pick_object_action = + action( + [this]() { pickObject(*pick);}, + "Pick Object Action" + ); + + auto is_object_picked = condition([this]() { return is_pick_successful; }, + "Check Pick Successful"); + + auto place_object_action = + action( + [this]() { + if (place.has_value()) { + placeObject(*place); + } + }, + "Place Object Action" + ); + + auto is_object_placed = condition([this]() { return is_place_successful; }, + "Check Place Successful"); + + auto is_gripper_free_condition = + condition([this]() { return is_gripper_free; }, "Check Gripper Free"); + auto has_pick_task = condition([this]() { return pick.has_value(); }, + "Check Pick Task Available"); + + auto has_place_task = condition([this]() { return place.has_value(); }, + "Check Place Task Available"); + + + return + fallback( + sequence( + not_(has_pick_task), + not_(has_place_task) + ), + sequence( + fallback( + is_object_picked, + sequence_memory( + has_pick_task, + is_gripper_free_condition, + pick_object_action, + is_object_picked, + action([this]() { clearPickTask(); }, "Clear Pick Task") + ) + ), + fallback( + is_object_placed, + sequence_memory( + has_place_task, + place_object_action, + is_object_placed, + action([this]() { clearPlaceTask(); }, "Clear Place Task") + ) + ) + ) + ); + // clang-format on + } +}; +class PickAndPlaceArmMock : public PickAndPlaceArm { +public: + PickAndPlaceArmMock() { + is_pick_successful = false; + is_place_successful = false; + is_gripper_free = true; + } + void pickObject([[maybe_unused]] const Task &task) override { + is_pick_successful = true; // Simulate successful pick + } + + void placeObject([[maybe_unused]] const Task &task) override { + is_place_successful = true; // Simulate successful place + } +}; +// Unit tests for PickAndPlaceArmMock +TEST(PickAndPlaceArmMockTest, PickObjectSuccess) { + PickAndPlaceArmMock arm; + Task pick_task{1.0, 2.0, 3.0}; // Coordinates for the task + arm.setPickTask(pick_task); + arm.pickObject(*arm.pick); + ASSERT_TRUE(arm.is_pick_successful); +} + +TEST(PickAndPlaceArmMockTest, PlaceObjectSuccess) { + PickAndPlaceArmMock arm; + Task place_task{4.0, 5.0, 6.0}; // Coordinates for the task + arm.setPlaceTask(place_task); + arm.placeObject(*arm.place); + ASSERT_TRUE(arm.is_place_successful); +} + +class TwoArmsRobot { +public: + std::shared_ptr left_arm; + std::shared_ptr right_arm; + std::queue> tasks; + + BehaviorTree bt; + +public: + TwoArmsRobot(std::shared_ptr left, + std::shared_ptr right) + : left_arm(left), right_arm(right), bt(make_tree()) {} + + void addTask(const Task &pickTask, const Task &placeTask) { + tasks.push(std::make_pair(pickTask, placeTask)); + } + + void run() { + bt.run(); // Run the behavior tree + } + +protected: + BehaviorPtr make_tree() { + auto check_queue_not_empty = condition([this]() { return !tasks.empty(); }, + "Check if Task Queue is Not Empty"); + + auto assign_task_to_arm = [this](std::shared_ptr arm) { + return action( + [this, arm]() { + const auto &task_pair = tasks.front(); + arm->setPickTask(task_pair.first); + arm->setPlaceTask(task_pair.second); + tasks.pop(); + }, + "Assign Task to Arm"); + }; + auto create_sequence_for_arm = + [this, check_queue_not_empty, + assign_task_to_arm](std::shared_ptr arm) { + // clang-format off + return + sequence( + arm->make_subtree(), + check_queue_not_empty, + assign_task_to_arm(arm) + ); + // clang-format on + }; + auto root = parallel(create_sequence_for_arm(left_arm), + create_sequence_for_arm(right_arm)); + + return root; + } +}; + +TEST(TwoArmsRobotTest, OneTask) { + auto left_arm_mock = std::make_shared(); + auto right_arm_mock = std::make_shared(); + TwoArmsRobot robot(left_arm_mock, right_arm_mock); + + Task pickTask{1.0, 2.0, 3.0}; + Task placeTask{4.0, 5.0, 6.0}; + robot.addTask(pickTask, placeTask); + + ASSERT_TRUE(left_arm_mock->pick == std::nullopt); + ASSERT_TRUE(left_arm_mock->place == std::nullopt); + ASSERT_FALSE(left_arm_mock->is_pick_successful); + ASSERT_FALSE(left_arm_mock->is_place_successful); + ASSERT_TRUE(left_arm_mock->is_gripper_free); + + ASSERT_TRUE(right_arm_mock->pick == std::nullopt); + ASSERT_TRUE(right_arm_mock->place == std::nullopt); + ASSERT_FALSE(right_arm_mock->is_pick_successful); + ASSERT_FALSE(right_arm_mock->is_place_successful); + ASSERT_TRUE(right_arm_mock->is_gripper_free); + + ASSERT_NO_THROW(robot.run()); + + // Add checks after verifying that pick is not yet done + ASSERT_FALSE(left_arm_mock->is_pick_successful); + ASSERT_FALSE(right_arm_mock->is_pick_successful); + + ASSERT_TRUE(left_arm_mock->pick.has_value()); + ASSERT_TRUE(left_arm_mock->place.has_value()); + + ASSERT_NO_THROW(robot.run()); + + ASSERT_TRUE(left_arm_mock->is_pick_successful); + ASSERT_TRUE(left_arm_mock->is_place_successful); +} + +TEST(TwoArmsRobotTest, TwoTasks) { + auto left_arm_mock = std::make_shared(); + auto right_arm_mock = std::make_shared(); + TwoArmsRobot robot(left_arm_mock, right_arm_mock); + + Task pickTask1{1.0, 2.0, 3.0}; + Task placeTask1{4.0, 5.0, 6.0}; + Task pickTask2{7.0, 8.0, 9.0}; + Task placeTask2{10.0, 11.0, 12.0}; + robot.addTask(pickTask1, placeTask1); + robot.addTask(pickTask2, placeTask2); + + ASSERT_TRUE(left_arm_mock->pick == std::nullopt); + ASSERT_TRUE(left_arm_mock->place == std::nullopt); + ASSERT_FALSE(left_arm_mock->is_pick_successful); + ASSERT_FALSE(left_arm_mock->is_place_successful); + ASSERT_TRUE(left_arm_mock->is_gripper_free); + + ASSERT_TRUE(right_arm_mock->pick == std::nullopt); + ASSERT_TRUE(right_arm_mock->place == std::nullopt); + ASSERT_FALSE(right_arm_mock->is_pick_successful); + ASSERT_FALSE(right_arm_mock->is_place_successful); + ASSERT_TRUE(right_arm_mock->is_gripper_free); + + ASSERT_NO_THROW(robot.run()); + + // Check that each arm has picked up one task + ASSERT_TRUE(left_arm_mock->pick.has_value()); + ASSERT_TRUE(right_arm_mock->pick.has_value()); + + ASSERT_NO_THROW(robot.run()); + + // Check that each arm has completed its task + ASSERT_TRUE(left_arm_mock->is_pick_successful); + ASSERT_TRUE(left_arm_mock->is_place_successful); + ASSERT_TRUE(right_arm_mock->is_pick_successful); + ASSERT_TRUE(right_arm_mock->is_place_successful); +} diff --git a/behavior_tree/test/main.cpp b/behavior_tree/test/main.cpp new file mode 100644 index 0000000..8cd72e9 --- /dev/null +++ b/behavior_tree/test/main.cpp @@ -0,0 +1,5 @@ +#include +int main([[maybe_unused]] int argc, [[maybe_unused]] char *argv[]) { + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/behavior_tree/test/unit/bt_leaf_nodes_test.cpp b/behavior_tree/test/unit/bt_leaf_nodes_test.cpp new file mode 100644 index 0000000..31206b9 --- /dev/null +++ b/behavior_tree/test/unit/bt_leaf_nodes_test.cpp @@ -0,0 +1,45 @@ +#include "../include/behavior_tree/bt_base.h" +#include + +using namespace ::testing; +using namespace evo::behavior; +using namespace evo::behavior::bt_factory; + +TEST(BehaviorTreeTest, ActionNodeSuccess) { + bool action_executed = false; + auto action_node = + action([&]() { action_executed = true; }, "Test Action Success"); + + ASSERT_EQ((*action_node)(), Status::Success); + ASSERT_TRUE(action_executed); +} + +TEST(BehaviorTreeTest, ActionNodeFailure) { + auto action_node2 = + action([]() { throw std::runtime_error("Intentional Failure"); }, + "Test Action Failure"); + + ASSERT_EQ((*action_node2)(), Status::Failure); +} + +TEST(BehaviorTreeTest, ConditionNodeSuccess) { + auto condition_node = + condition([]() { return Status::Success; }, "Test Condition Success"); + + ASSERT_EQ((*condition_node)(), Status::Success); +} + +TEST(BehaviorTreeTest, ConditionNodeFailure) { + auto condition_node = + condition([]() { return Status::Failure; }, "Test Condition Failure"); + + ASSERT_EQ((*condition_node)(), Status::Failure); +} + +TEST(BehaviorTreeTest, ConditionNodeException) { + auto condition_node = condition( + []() -> Status { throw std::runtime_error("Condition Exception"); }, + "Test Condition Exception"); + + ASSERT_EQ((*condition_node)(), Status::Failure); +} diff --git a/behavior_tree/test/unit/bt_memory_nodes_test.cpp b/behavior_tree/test/unit/bt_memory_nodes_test.cpp new file mode 100644 index 0000000..2774f06 --- /dev/null +++ b/behavior_tree/test/unit/bt_memory_nodes_test.cpp @@ -0,0 +1,152 @@ +#include "../include/behavior_tree/bt_base.h" +#include + +using namespace ::testing; +using namespace evo::behavior; +using namespace evo::behavior::bt_factory; + +// Test the behavior of the SequenceMemory node when conditions are initially +// not met +TEST(BehaviorTreeTest, SequenceMemory) { + // Create a node that always succeeds + auto true_action_node = action([]() {}, "returns Success"); + + // Setup a condition node that initially returns Running to simulate ongoing + // operations + bool flag = false; + auto condition_node = + condition([&flag] { return flag ? Status::SUCCESS : Status::RUNNING; }); + + // Create a sequence memory node with both nodes + auto sequence_memory_node = + sequence_memory("", condition_node, true_action_node); + + // Initially, the condition node is not satisfied, so the sequence should + // return Running + ASSERT_EQ(Status::State((*sequence_memory_node)()), Status::RUNNING); + + // Change condition to true, expecting sequence to succeed now + flag = true; + Status result = (*sequence_memory_node)(); + ASSERT_EQ(Status::State(result), Status::SUCCESS); +} + +// Test the behavior of the FallbackMemory node when the primary condition fails +TEST(BehaviorTreeTest, FallbackMemory) { + // Create a node that always returns Success + auto true_action_node = action([]() {}, "returns Success"); + + // Setup a condition node that initially returns Failure when the flag is + // true, and Running otherwise + bool flag = false; + auto condition_node = + condition([&flag] { return flag ? Status::FAILURE : Status::RUNNING; }); + + // Create a fallback memory node that tries the condition node first, then the + // true action node + auto fallback_memory_node = + fallback_memory("", condition_node, true_action_node); + // Initially, the condition node is running, so the fallback should also + // return Running + ASSERT_EQ((*fallback_memory_node)(), Status::RUNNING); + + // Change condition to true, then the condition node will fail and fallback to + // the true action node + flag = true; + Status result = (*fallback_memory_node)(); + ASSERT_EQ(result, Status::SUCCESS); +} + +// Test the reset behavior of the SequenceMemory node when nodes initially +// return Running +TEST(BehaviorTreeTest, SequenceMemoryReset) { + + // Create a node that always returns Success + auto true_action_node = action([]() {}, "returns Success"); + + // Setup two condition nodes that depend on flags, initially both returning + // Running + bool flag1 = false, flag2 = false; + auto condition_node1 = + condition([&flag1] { return flag1 ? Status::Success : Status::Running; }); + auto condition_node2 = + condition([&flag2] { return flag2 ? Status::Success : Status::Running; }); + + // Create a sequence memory node that includes both condition nodes and the + // true action node + auto sequence_memory_node = + sequence_memory("", condition_node1, condition_node2, true_action_node); + + // Initially, neither condition is met, so the sequence should return Running + ASSERT_EQ((*sequence_memory_node)(), Status::Running); + + // Set the first flag to true; the sequence should still return Running + // because the second flag is false + flag1 = true; + ASSERT_EQ((*sequence_memory_node)(), Status::Running); + + // Reset the first flag and set the second flag; the sequence should now + // succeed + flag1 = false; + flag2 = true; + Status result = (*sequence_memory_node)(); + ASSERT_EQ(result, Status::Success); + + // Reset the sequence memory node, which should revert it to initial + // conditions + sequence_memory_node->reset(); + ASSERT_EQ((*sequence_memory_node)(), Status::Running); +} + +// Test the behavior of the SequenceMemory node with multiple action nodes +TEST(BehaviorTreeTest, SequenceMemoryMultipleActions) { + // Create three action nodes, two that always succeed and one that always + // fails + auto success_action_node1 = action([]() {}, "Action 1 Success"); + auto success_action_node2 = action([]() {}, "Action 2 Success"); + auto fail_condition_node = + condition([]() { return Status::Failure; }, "Condition Fail"); + + // Create a sequence memory node with the action nodes + auto sequence_memory_node = sequence_memory( + "", success_action_node1, fail_condition_node, success_action_node2); + + // The sequence should fail because the condition node fails + ASSERT_EQ((*sequence_memory_node)(), Status::Failure); +} + +// Test the behavior of the FallbackMemory node with multiple action nodes +TEST(BehaviorTreeTest, FallbackMemoryMultipleActions) { + // Create three action nodes, two that always fail and one that always + // succeeds + auto fail_condition_node1 = + condition([]() { return Status::Failure; }, "Condition 1 Fail"); + auto fail_condition_node2 = + condition([]() { return Status::Failure; }, "Condition 2 Fail"); + auto success_action_node = action([]() {}, "Action Success"); + + // Create a fallback memory node with the condition nodes and the action node + auto fallback_memory_node = fallback_memory( + "", fail_condition_node1, fail_condition_node2, success_action_node); + + // The fallback should succeed because the last action node succeeds + ASSERT_EQ((*fallback_memory_node)(), Status::Success); +} + +// Test the behavior of the SequenceMemory node when all conditions are met from +// the start +TEST(BehaviorTreeTest, SequenceMemoryAllConditionsMet) { + // Create a node that always succeeds + auto true_action_node = action([]() {}, "returns Success"); + + // Setup a condition node that always returns Success + auto condition_node = condition([]() { return Status::Success; }); + + // Create a sequence memory node with the condition node and the action node + auto sequence_memory_node = + sequence_memory("", condition_node, true_action_node); + + // Since the condition is met from the start, the sequence should return + // Success + ASSERT_EQ((*sequence_memory_node)(), Status::Success); +} diff --git a/behavior_tree/test/unit/bt_status_test.cpp b/behavior_tree/test/unit/bt_status_test.cpp new file mode 100644 index 0000000..36b549e --- /dev/null +++ b/behavior_tree/test/unit/bt_status_test.cpp @@ -0,0 +1,83 @@ +#include "../include/behavior_tree/bt_base.h" +#include + +using namespace ::testing; +using namespace evo::behavior; + +// Test the Status class constructors, state checks, and assignment operators +TEST(StatusTest, ConstructorAndState) { + // Test the constructor that takes a boolean + Status success_status(true); + Status failure_status(false); + + ASSERT_TRUE(success_status == Status::SUCCESS); + ASSERT_TRUE(failure_status == Status::FAILURE); + + // Test the constructor that takes a State + Status running_status(Status::RUNNING); + + ASSERT_TRUE(running_status == Status::RUNNING); + + // Test returning Status from a function and saving it into a variable before + // assertion + auto return_success = []() -> Status { return Status::SUCCESS; }; + auto return_failure = []() -> Status { return Status::FAILURE; }; + auto return_running = []() -> Status { return Status::RUNNING; }; + + Status success_result = return_success(); + Status failure_result = return_failure(); + Status running_result = return_running(); + ASSERT_TRUE(success_result == Status::SUCCESS); + ASSERT_FALSE(success_result == Status::FAILURE); + ASSERT_FALSE(success_result == Status::RUNNING); + + ASSERT_TRUE(failure_result == Status::FAILURE); + ASSERT_FALSE(failure_result == Status::SUCCESS); + ASSERT_FALSE(failure_result == Status::RUNNING); + + ASSERT_TRUE(running_result == Status::RUNNING); + ASSERT_FALSE(running_result == Status::SUCCESS); + ASSERT_FALSE(running_result == Status::FAILURE); + + // Test assignment operators + Status assigned_status(false); + assigned_status = success_status; + ASSERT_TRUE(assigned_status == Status::SUCCESS); + + assigned_status = failure_status; + ASSERT_TRUE(assigned_status == Status::FAILURE); + + assigned_status = running_status; + ASSERT_TRUE(assigned_status == Status::RUNNING); +} + +// Test the Status class conversion to boolean +TEST(StatusTest, ConversionToBoolean) { + Status success_status(true); + Status failure_status(false); + Status running_status(Status::RUNNING); + + ASSERT_TRUE(static_cast(success_status)); + ASSERT_FALSE(static_cast(failure_status)); + ASSERT_FALSE(static_cast( + running_status)); // Assuming RUNNING should evaluate to false +} + +// Test the Status class stream output +TEST(StatusTest, StreamOutput) { + Status success_status(true); + Status failure_status(false); + Status running_status(Status::RUNNING); + + std::stringstream ss_success; + ss_success << success_status; + ASSERT_EQ(ss_success.str(), "SUCCESS"); + + std::stringstream ss_failure; + ss_failure << failure_status; + ASSERT_EQ(ss_failure.str(), "FAILURE"); + + std::stringstream ss_running; + ss_running << running_status; + ASSERT_EQ(ss_running.str(), "RUNNING"); +} diff --git a/behavior_tree/test/unit/bt_test.cpp b/behavior_tree/test/unit/bt_test.cpp new file mode 100644 index 0000000..d16f961 --- /dev/null +++ b/behavior_tree/test/unit/bt_test.cpp @@ -0,0 +1,85 @@ +#include + +#include "../include/behavior_tree/bt_base.h" + +using namespace ::testing; +using namespace evo::behavior; +using namespace evo::behavior::bt_factory; + +// Testing action nodes to ensure they return appropriate Status values. +TEST(BehaviorTreeTest, Action) { + auto true_action_node = action([]() {}, "returns Success"); + ASSERT_EQ((*true_action_node)(), Status::Success); + ASSERT_EQ(true_action_node->type(), "action"); + ASSERT_EQ(true_action_node->description(), "returns Success"); + ASSERT_TRUE(true_action_node->children().empty()); +} + +// Testing condition nodes to ensure they return appropriate Status values. +TEST(BehaviorTreeTest, Condition) { + auto true_condition_node = + condition([]() { return Status::Success; }, "returns Success"); + ASSERT_EQ((*true_condition_node)(), Status::Success); + ASSERT_EQ(true_condition_node->type(), "condition"); + ASSERT_EQ(true_condition_node->description(), "returns Success"); + ASSERT_TRUE(true_condition_node->children().empty()); + + auto false_condition_node = + condition([]() { return Status::Failure; }, "returns Failure"); + ASSERT_EQ((*false_condition_node)(), Status::Failure); +} + +// Testing sequence nodes with clear descriptions and checks on execution. +TEST(BehaviorTreeTest, Sequence) { + size_t visit_counter = 0; + auto node = sequence("Sequence Node Description", condition([&visit_counter] { + visit_counter++; + return Status::Failure; + }), // This will stop the sequence + condition([&visit_counter] { + visit_counter++; + return Status::Success; + }) // This won't be reached + ); + ASSERT_EQ(node->description(), "Sequence Node Description"); + ASSERT_EQ(node->children().size(), 2); + std::cout << "Visit counter " << visit_counter << std::endl; + ASSERT_EQ((*node)(), Status::Failure); + ASSERT_EQ(visit_counter, 1); // Only the first node should have been visited +} + +// Testing fallback nodes to simulate decision-making branches. +TEST(BehaviorTreeTest, Fallback) { + size_t visit_counter = 0; + auto node = fallback("Fallback Node Description", condition([&visit_counter] { + visit_counter++; + return Status::Failure; + }), // First fails + condition([&visit_counter] { + visit_counter++; + return Status::Success; + }) // Second succeeds + ); + ASSERT_EQ(node->description(), "Fallback Node Description"); + ASSERT_EQ(node->children().size(), 2); + ASSERT_EQ((*node)(), Status::Success); + ASSERT_EQ(visit_counter, 2); // Both nodes should have been visited +} + +// Testing parallel nodes to simulate concurrent checks. +TEST(BehaviorTreeTest, Parallel) { + size_t visit_counter = 0; + auto node = parallel("Parallel Node Description", condition([&visit_counter] { + visit_counter++; + return Status::Failure; + }), // Both will run + condition([&visit_counter] { + visit_counter++; + return Status::Running; + }) // Simulate ongoing operation + ); + ASSERT_EQ(node->description(), "Parallel Node Description"); + ASSERT_EQ(node->children().size(), 2); + ASSERT_EQ((*node)(), Status::Running); // Running takes precedence + ASSERT_EQ(visit_counter, 2); // Both nodes should have been visited +} diff --git a/evo_behavior_tree/CMakeLists.txt b/evo_behavior_tree/CMakeLists.txt new file mode 100644 index 0000000..169ddb7 --- /dev/null +++ b/evo_behavior_tree/CMakeLists.txt @@ -0,0 +1,137 @@ +cmake_minimum_required(VERSION 3.10.0) +file(STRINGS VERSION CURRENT_VERSION) +project(evo_behavior_tree VERSION ${CURRENT_VERSION}) +set(CMAKE_POLICY_DEFAULT_CMP0048 NEW) # Suppress GTest warnings. + +#################################################################### +## PREPARE MULTIPLE PACKAGES WORKAROUND ## +#################################################################### + +string(TOUPPER ${PROJECT_NAME} COMPONENT_NAME) +string(REPLACE "_" "" COMPONENT_NAME ${COMPONENT_NAME}) + +# Catkin hack to join the cmake config files into the target component +# debian package. Used to rename the +# 'Unspecified' catkin target into the real one +set(CMAKE_INSTALL_DEFAULT_COMPONENT_NAME ${COMPONENT_NAME}) + +#################################################################### +## ADD COMPILE TIME DEFINITIONS ## +#################################################################### + + +option(ENABLE_LOGGING "Build with logs enabled" ON) + +if(ENABLE_LOGGING) + add_compile_definitions(ALLOW_GENERAL_LOGGING) + add_compile_definitions(ENABLE_LOGGING) +endif() + +if(CMAKE_BUILD_TYPE STREQUAL "Debug" + AND ENABLE_LOGGING +) + add_compile_definitions(ALLOW_DEBUG_LOGGING) +endif() + +#################################################################### +## FIND ALL PACKAGES & PREPARE CATKIN ## +#################################################################### + +find_package( + catkin REQUIRED + COMPONENTS + evo_service_manager + roscpp + std_msgs + rostest + actionlib_msgs +) +find_package(yaml-cpp REQUIRED) + +#catkin_package() +catkin_package(CATKIN_DEPENDS actionlib_msgs) + +#################################################################### +## WRAP IMPORTED PACKAGES TO PREVENT WARNINGS LEAKAGE ## +#################################################################### + +add_library(catkin_wrapper INTERFACE) +target_include_directories( + catkin_wrapper SYSTEM + INTERFACE ${catkin_INCLUDE_DIRS} +) +target_link_libraries( + catkin_wrapper + INTERFACE ${catkin_LIBRARIES} +) + +#################################################################### +## ASSEMBLE ROS WRAPPER FOR BT AS A STATIC LIBRARY ## +#################################################################### + +file(GLOB_RECURSE COMMON_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp) +add_library(${PROJECT_NAME} STATIC ${COMMON_SOURCES}) + +target_include_directories( + ${PROJECT_NAME} + PUBLIC $ +) + +target_link_libraries( + ${PROJECT_NAME} + PUBLIC + behavior_tree + catkin_wrapper +) + +add_dependencies(${PROJECT_NAME} behavior_tree) + +#################################################################### +## INSTALL LIBRARY ## +#################################################################### + +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + COMPONENT ${COMPONENT_NAME} +) + +install( + DIRECTORY include/${PROJECT_NAME} + DESTINATION include + COMPONENT ${COMPONENT_NAME} +) + +#################################################################### +## CPACK CONFIGURATION ## +#################################################################### + +set(CPACK_GENERATOR "DEB") +set(CPACK_DEB_COMPONENT_INSTALL ON) +set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/ros/melodic") + +string(REPLACE "_" "-" DASH_PROJECT_NAME ${PROJECT_NAME}) +set(DASH_PROJECT_NAME ros-melodic-${DASH_PROJECT_NAME}) + +set(CPACK_PACKAGE_NAME ${DASH_PROJECT_NAME}) +set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION}) + +set(CPACK_COMPONENTS_ALL ${COMPONENT_NAME}) +set(CPACK_DEBIAN_${COMPONENT_NAME}_PACKAGE_NAME ${DASH_PROJECT_NAME}) + +set(CPACK_DEBIAN_PACKAGE_MAINTAINER + "Evgeniy Safronov " +) +set(CPACK_PACKAGE_DESCRIPTION_SUMMARY + "ROS-dependent Behavior Tree library wrapper." +) +set(CPACK_DEBIAN_PACKAGE_DEPENDS "behavior-tree") +set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT) +set(CPACK_RESOURCE_FILE_README ${CMAKE_CURRENT_SOURCE_DIR}/README.md) + +set(CPACK_OUTPUT_CONFIG_FILE + "${CMAKE_BINARY_DIR}/configs/${PROJECT_NAME}_Config.cmake" +) + +include(CPack) + diff --git a/evo_behavior_tree/README.md b/evo_behavior_tree/README.md new file mode 100644 index 0000000..1214ec8 --- /dev/null +++ b/evo_behavior_tree/README.md @@ -0,0 +1,31 @@ +# Evo Behavior Tree + +ROS-dependent Behavior Tree framework wrapper for building mission execution +systems. + +## Install + +Before installation add Evocargo repository to system source list. Then install +the _ros-melodic-evo-behavior-tree_ package: + +``` +sudo apt update +sudo apt install ros-melodic-evo-behavior-tree +``` + +## Usage example + +Install the library and write your ROS-node using it. The example could be found +in the +[evo_top_level_control](https://git.evocargo.com/evocargo/planning_and_control/evo_top_level_control) +repository. + +## License + +Copyright (c) Evocargo LLC, all rights reserved. + +## Maintainers + +- Evgeniy Safronov +- Tamash Fazli +- Alexey Ratnikov diff --git a/evo_behavior_tree/VERSION b/evo_behavior_tree/VERSION new file mode 100644 index 0000000..afaf360 --- /dev/null +++ b/evo_behavior_tree/VERSION @@ -0,0 +1 @@ +1.0.0 \ No newline at end of file diff --git a/evo_behavior_tree/doxygen_config b/evo_behavior_tree/doxygen_config new file mode 100644 index 0000000..c993da7 --- /dev/null +++ b/evo_behavior_tree/doxygen_config @@ -0,0 +1,2427 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "evo-behavior-tree" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = ${CURRENT_VERSION} + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "ROS-dependent Behavior Tree framework wrapper for building mission execution systems." + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = ./doxygen + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = YES + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ./include + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = *.cpp *.c *.h *.hp *.hpp *.cxx *.hxx *.py + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = ./src/core/minsubsystem ./src/core/thirdparty ./src/core/se_packages ./src/core/vi_packages + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 140 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /