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‎BT_basics/index.html

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@@ -786,14 +786,14 @@ <h1 id="introduction-to-bts">Introduction to BTs</h1>
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<p>The <strong>leaves</strong> of the tree are the actual commands, i.e. the place where
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our coordinating component interacts with the rest of the system.</p>
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<p>For instance, in a service-oriented architecture, the leaves would contain
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the "client" code that communicate with the "server" that performs the
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the "client" code that communicates with the "server" that performs the
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operation.</p>
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<p>In the following example, we can see two Actions executed in a sequence,
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<code>DetectObject</code> and <code>GraspObject</code>.</p>
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<p><img alt="Leaf To Component Communication" src="../images/LeafToComponentCommunication.png" /></p>
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<p>The other nodes of the tree, those which are <strong>not leaves</strong>, control the
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"flow of execution".</p>
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<p>To better understand how this control flow takes place , imagine a signal
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<p>To better understand how this control flow takes place, imagine a signal
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called "<strong>tick</strong>"; it is executed at the <strong>root</strong> of the tree and it propagates
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through the branches until it reaches one or multiple leaves.</p>
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<div class="admonition note">
@@ -817,15 +817,15 @@ <h1 id="introduction-to-bts">Introduction to BTs</h1>
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<h2 id="types-of-nodes">Types of nodes</h2>
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<p><strong>ControlNodes</strong> are nodes which can have 1 to N children. Once a tick
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is received, this tick may be propagated to one or more of the children.</p>
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<p><strong>DecoratorNodes</strong> is similar to the ControlNode, but it can have only a single child. </p>
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<p><strong>DecoratorNodes</strong> are similar to the ControlNode, but can only have a single child. </p>
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<p><strong>ActionNodes</strong> are leaves and do not have any children. The user should
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implement their own ActionNodes to perform the actual task.</p>
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implement their own ActionNodes to perform the actual tasks.</p>
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<p><strong>ConditionNodes</strong> are equivalent to ActionNodes, but
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they are always atomic and synchronous, i.e. they must not return RUNNING.
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They should not alter the state of the system.</p>
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<p><img alt="UML hierarchy" src="../images/TypeHierarchy.png" /></p>
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<h2 id="examples">Examples</h2>
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<p>To better understand how a BehaviorTrees work, let's focus on some practical
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<p>To better understand how BehaviorTrees work, let's focus on some practical
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examples. For the sake of simplicity we will not take into account what happens
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when an action returns RUNNING.</p>
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<p>We will assume that each Action is executed atomically and synchronously.</p>
@@ -857,7 +857,7 @@ <h3 id="decorators">Decorators</h3>
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<p>You can extend your grammar creating your own Decorators.</p>
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<p><img alt="Simple Decorator: Enter Room" src="../images/DecoratorEnterRoom.png" /></p>
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<p>The node <strong>Inverter</strong> is a Decorator that inverts
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the result returned by its child; Inverter followed by the node called
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the result returned by its child; An Inverter followed by the node called
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<strong>DoorOpen</strong> is therefore equivalent to </p>
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<div class="codehilite"><pre><span></span>&quot;Is the door closed?&quot;.
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</pre></div>
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<p>We will see later how we can improve this tree. </p>
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</div>
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<h3 id="second-controlnode-fallback">Second ControlNode: Fallback</h3>
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<p><a href="../FallbackNode/">FallbackNodes</a>, known also as <strong>"Selector"</strong>,
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<p><a href="../FallbackNode/">FallbackNodes</a>, known also as <strong>"Selectors"</strong>,
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are nodes that can express, as the name suggests, fallback strategies,
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ie. what to do next if a child returns FAILURE.</p>
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i.e. what to do next if a child returns FAILURE.</p>
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<p>It ticks the children in order and:</p>
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<ul>
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<li>If a child returns FAILURE, tick the next one.</li>
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<li>If a child returns SUCCESS, then no more children are ticked and the
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Fallback returns SUCCESS.</li>
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<li>If all the children return FAILURE, then the Fallback returns FAILURE too.</li>
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</ul>
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<p>In the next example, you can see how Sequence and Fallbacks can be combined:</p>
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<p>In the next example, you can see how Sequences and Fallbacks can be combined:</p>
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<p><img alt="FallbackNodes" src="../images/FallbackBasic.png" /> </p>
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<blockquote>
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<p>Is the door open?</p>

‎FallbackNode/index.html

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All the children are halted. </p>
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</li>
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</ul>
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<p>The two version of fallback differ in the way they react when a child returns
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<p>The two versions of Fallback differ in the way they react when a child returns
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RUNNING:</p>
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<ul>
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<li>
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<p>Plain old Fallback will return RUNNING and, the next time it is ticked,
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it will tick the same child.</p>
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<p>FallbackStar will return RUNNING and the next time it is ticked,
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it will tick the same child where it left off before.</p>
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</li>
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<li>
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<p>Plain old Fallback will return RUNNING and the index of the next child to
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execute is reset.</p>
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execute is reset after each execution.</p>
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</li>
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</ul>
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<h2 id="fallback_1">Fallback</h2>

‎SequenceNode/index.html

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the sequence returns <strong>SUCCESS</strong>.</p>
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</li>
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</ul>
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<p>To understand how the tree ControlNodes differ, refer to the following table:</p>
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<p>To understand how the three ControlNodes differ, refer to the following table:</p>
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<table>
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<thead>
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<tr>
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<p>This node is particularly useful to continuously check Conditions; but
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the user should also be careful when using asynchronous children, to be
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sure that thy are not ticked more often that expected.</p>
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<p>Let's take a look to another example:</p>
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<p>Let's take a look at another example:</p>
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<p><img alt="ReactiveSequence" src="../images/ReactiveSequence.png" /></p>
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<p><code>ApproachEnemy</code> is an <strong>asynchronous</strong> action that m return RUNNING until
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<p><code>ApproachEnemy</code> is an <strong>asynchronous</strong> action that returns RUNNING until
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it is, eventually, completed.</p>
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<p>The condition <code>isEnemyVisible</code> will be called many times and,
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if it becomes false (i,e, "FAILURE"), <code>ApproachEnemy</code> is halted. </p>
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<span class="k">return</span> <span class="n">SUCCESS</span><span class="p">;</span>
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</pre></div>
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</details><h2 id="sequencestar">SequenceStar</h2>
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<p>Use this ControlNode when you don't want to tick again children that
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return SUCCESS already</p>
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<p>Use this ControlNode when you don't want to tick children again that
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already returned SUCCESS.</p>
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<p><strong>Example</strong>:</p>
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<p>This is a patrolling agent/robot that must visit locations A, B and C <strong>only once</strong>.
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If the action <strong>GoTo(B)</strong> fails, <strong>GoTo(A)</strong> will not be ticked again.</p>

‎search/search_index.json

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‎sitemap.xml

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<loc>None</loc>
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<lastmod>2019-03-06</lastmod>
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‎tutorial_01_first_tree/index.html

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@@ -772,7 +772,7 @@ <h2 id="how-to-create-your-own-actionnodes">How to create your own ActionNodes</
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<span class="p">}</span>
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<span class="k">private</span><span class="o">:</span>
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<span class="kt">bool</span> <span class="n">_open</span><span class="p">;</span> <span class="c1">// shrared information</span>
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<span class="kt">bool</span> <span class="n">_open</span><span class="p">;</span> <span class="c1">// shared information</span>
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<span class="p">};</span>
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</pre></div>
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<li>GripperInterface::close()</li>
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</ul>
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<h2 id="create-a-tree-dynamically-with-an-xml">Create a tree dynamically with an XML</h2>
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<p>Let's consider the followinf XML file named <strong>my_tree.xml</strong>:</p>
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<p>Let's consider the following XML file named <strong>my_tree.xml</strong>:</p>
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<div class="codehilite"><pre><span></span> <span class="nt">&lt;root</span> <span class="na">main_tree_to_execute =</span> <span class="s">&quot;MainTree&quot;</span> <span class="nt">&gt;</span>
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<span class="nt">&lt;BehaviorTree</span> <span class="na">ID=</span><span class="s">&quot;MainTree&quot;</span><span class="nt">&gt;</span>
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<span class="nt">&lt;Sequence</span> <span class="na">name=</span><span class="s">&quot;root_sequence&quot;</span><span class="nt">&gt;</span>

‎tutorial_02_basic_ports/index.html

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<p>A "blackboard" is a simple <strong>key/value storage</strong> shared by all the nodes
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of the Tree.</p>
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<p>An "entry" of the Blackboard is a <strong>key/value pair</strong>.</p>
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<p>Inputs ports can read an entry in the Blackboard, whilst an Output port
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<p>Input ports can read an entry in the Blackboard, whilst an Output port
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can write into an entry.</p>
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<p>Let's suppose that we want to create an ActionNode called <code>SaySomething</code>,
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that should print a given string on <code>std::cout</code>.</p>
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<p>Such string will be passed using an input port called <code>message</code>.</p>
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<p>Such a string will be passed using an input port called <code>message</code>.</p>
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<p>Consider these alternative XML syntaxes:</p>
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<div class="codehilite"><pre><span></span> <span class="nt">&lt;SaySomething</span> <span class="na">name=</span><span class="s">&quot;first&quot;</span> <span class="na">message=</span><span class="s">&quot;hello world&quot;</span> <span class="nt">/&gt;</span>
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<span class="nt">&lt;SaySomething</span> <span class="na">name=</span><span class="s">&quot;second&quot;</span> <span class="na">message=</span><span class="s">&quot;{greetings}&quot;</span> <span class="nt">/&gt;</span>
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<p>The message is read from the XML file, therefore it can not change at run-time.</p>
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<p>The syntax of the <strong>second node</strong>, instead, means: </p>
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<p>The syntax of the <strong>second node</strong> instead means: </p>
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<div class="codehilite"><pre><span></span>&quot;Read the current value in the entry of the blackboard called &#39;greetings&#39; &quot;.
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</pre></div>
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<h2 id="output-ports">Output ports</h2>
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<p>An input port pointing to the entry of the blackboard will be valid only
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if another node have already wrritten "something" inside that same entry.</p>
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<p><code>ThinkWhatToSay</code> is an example of Node that uses a <strong>output port</strong> to writes a
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<p><code>ThinkWhatToSay</code> is an example of Node that uses an <strong>output port</strong> to write a
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string into an entry.</p>
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<div class="codehilite"><pre><span></span><span class="k">class</span> <span class="nc">ThinkWhatToSay</span> <span class="o">:</span> <span class="k">public</span> <span class="n">SyncActionNode</span>
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<span class="p">{</span>
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<span class="p">};</span>
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</pre></div>
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<p>Alternatively, most of the times for debugging purposes, it is possible to write a
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<p>Alternatively, most of the time for debugging purposes, it is possible to write a
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static value into an entry using the built-in Actions called <code>SetBlackboard</code>.</p>
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<div class="codehilite"><pre><span></span> <span class="nt">&lt;SetBlackboard</span> <span class="na">output_key=</span><span class="s">&quot;the_answer&quot;</span> <span class="na">value=</span><span class="s">&quot;The answer is 42&quot;</span> <span class="nt">/&gt;</span>
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</pre></div>

‎tutorial_03_generic_ports/index.html

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<p>In the previous tutorials we introduced input and output ports, where the
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type of the port itself was a <code>std::string</code>.</p>
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<p>This is the easiest port type to deal with, because any parameter passed
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from the XML definition will be (obviosly) a string.</p>
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from the XML definition will be (obviously) a string.</p>
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<p>Next, we will describe how to use any generic C++ type in your code.</p>
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<h2 id="parsing-a-string">Parsing a string</h2>
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<p><strong>BehaviorTree.CPP</strong> supports automatic conversion of strings into common
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types, such as <code>int</code>, <code>long</code>, <code>double</code>, <code>bool</code>, <code>NodeStatus</code>, etc.</p>
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<p>But user defined types can be supported easily. For instance:</p>
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<p>But user defined types can be supported easily as well. For instance:</p>
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<div class="codehilite"><pre><span></span><span class="c1">// We want to be able to use this custom type</span>
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<span class="k">struct</span> <span class="n">Position2D</span>
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</ul>
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<h2 id="example">Example</h2>
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<p>Similarly to the previous tutorial, we can create two custom Actions,
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one will writes into a port and the other will reads from a port.</p>
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one will write into a port and the other will read from a port.</p>
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<div class="codehilite"><pre><span></span><span class="k">class</span> <span class="nc">CalculateGoal</span><span class="o">:</span> <span class="k">public</span> <span class="n">SyncActionNode</span>
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<span class="p">};</span>
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<p>We can now connect input/output ports as usual, pointing at the same
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<p>We can now connect input/output ports as usual, pointing to the same
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entry of the Blackboard.</p>
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<p>The tree in the next example is a Sequence of 4 actions</p>
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<ul>

‎tutorial_04_sequence_star/index.html

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Robot says: &quot;mission completed!&quot;
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</pre></div>
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<p>You may noticed that when <code>executeTick()</code> was called, <code>MoveBase</code> returned
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<p>You may have noticed that when <code>executeTick()</code> was called, <code>MoveBase</code> returned
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<strong>RUNNING</strong> the 1st and 2nd time, and eventually <strong>SUCCESS</strong> the 3rd time.</p>
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<p><code>BatteryOK</code> is executed only once. </p>
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<p>If we use <code>ReactiveSequence</code> instead, when the child <code>MoveBase</code> returns RUNNING,
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<p>If we use a <code>ReactiveSequence</code> instead, when the child <code>MoveBase</code> returns RUNNING,
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the sequence is restarted and the condition <code>BatteryOK</code> is executed <strong>again</strong>.</p>
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<p>If, at any point, <code>BatteryOK</code> returned <strong>FAILURE</strong>, the <code>MoveBase</code> actions
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<p>If, at any point, <code>BatteryOK</code> returned <strong>FAILURE</strong>, the <code>MoveBase</code> action
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would be <em>interrupted</em> (<em>halted</em>, to be specific).</p>
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<div class="codehilite"><pre><span></span> <span class="nt">&lt;root&gt;</span>
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<span class="nt">&lt;BehaviorTree&gt;</span>

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