add Tree::getNodesByPath

Author: facontidavide

examples/t12_groot_howto.cpp

@@ -73,7 +73,7 @@ int main()
   BT::FileLogger2 logger2(tree, "t12_logger2.btlog");
   // SQLite logger can save multiple sessions into the same database
   bool append_to_database = true;
-  BT::SqliteLogger sqlite_logger(tree, "t12_logger2.btsql", append_to_database);
+  BT::SqliteLogger sqlite_logger(tree, "t12_sqlitelog.btsql", append_to_database);
 
   while(1)
   {

include/behaviortree_cpp/bt_factory.h

@@ -79,6 +79,8 @@ inline TreeNodeManifest CreateManifest(const std::string& ID,
 
 constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
 
+bool WildcardMatch(const std::string &str, StringView filter);
+
 /**
  * @brief Struct used to store a tree.
  * If this object goes out of scope, the tree is destroyed.
@@ -175,6 +177,26 @@ class Tree
 
   uint16_t getUID();
 
+  /// Get a list of nodes which fullPath() match a wildcard filter and
+  /// a given path. Example:
+  ///
+  /// move_nodes = tree.getNodesByPath<MoveBaseNode>("move_*");
+  ///
+  template <typename NodeType = BT::TreeNode>
+  std::vector<const TreeNode*> getNodesByPath(StringView wildcard_filter) {
+    std::vector<const TreeNode*> nodes;
+    for (auto const& subtree : subtrees) {
+      for (auto const& node : subtree->nodes) {
+        if(auto node_recast = dynamic_cast<const NodeType*>(node.get())) {
+          if(WildcardMatch(node->fullPath(), wildcard_filter)) {
+            nodes.push_back(node.get());
+          }
+        }
+      }
+    }
+    return nodes;
+  }
+
 
 private:
   std::shared_ptr<WakeUpSignal> wake_up_;

src/bt_factory.cpp

@@ -24,6 +24,12 @@
 
 namespace BT
 {
+
+bool WildcardMatch(std::string const& str, StringView filter)
+{
+  return wildcards::match(str, filter);
+}
+
 BehaviorTreeFactory::BehaviorTreeFactory()
 {
   parser_ = std::make_shared<XMLParser>(*this);