added comments

Author: facontidavide

examples/t12_groot_howto.cpp

@@ -11,11 +11,16 @@
  */
 
 // A custom struct  that I want to visualize in Groot2
-struct Position2D {
+struct Position2D
+{
   double x;
   double y;
 };
 
+// This macro will generate the code that is needed to convert
+// the object to/from JSON.
+// You still need to call BT::RegisterJsonDefinition<Position2D>()
+// in main()
 BT_JSON_CONVERTER(Position2D, pos)
 {
   add_field("x", &pos.x);

sample_nodes/movebase_node.h

@@ -1,21 +1,23 @@
 #pragma once
 
+#include "behaviortree_cpp/action_node.h"
 #include "behaviortree_cpp/json_export.h"
-#include "behaviortree_cpp/behavior_tree.h"
 
 // Custom type
 struct Pose2D
 {
-    double x, y, theta;
+  double x, y, theta;
 };
 
-// Use this to register this function into JsonExporter:
+// Add this to you main() to register this function into JsonExporter:
 //
 // BT::JsonExporter::get().addConverter<Pose2D>();
-inline void to_json(nlohmann::json& dest, const Pose2D& pose) {
-    dest["x"] = pose.x;
-    dest["y"] = pose.y;
-    dest["theta"] = pose.theta;
+
+BT_JSON_CONVERTER(Pose2D, pose)
+{
+  add_field("x", &pose.x);
+  add_field("y", &pose.y);
+  add_field("theta", &pose.theta);
 }