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Davide Faconti
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‎404.html

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<a href="/getting_started/" title="How to use the library" class="md-nav__link">
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How to use the library
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<a href="/getting_started/" title="Main concepts" class="md-nav__link">
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Main concepts
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<a href="/getting_started/" title="BT at run-time" class="md-nav__link">
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BT at run-time
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Examples
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<a href="/tutorial_A_create_trees/" title="How to create a Tree" class="md-nav__link">
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How to create a Tree
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‎BT_basics/index.html

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‎BlackBoard/index.html

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Next
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‎ControlNode/index.html

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‎DecoratorNode/index.html

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‎FallbackNode/index.html

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<p><strong>Example</strong>:</p>
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<p>Try different strategies to open the door. Check first if it is open already.</p>
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<p><img alt="FallbackNode" src="../images/FallbackSimplified.png" /></p>
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<details class="example"><summary>See the pseudocode</summary><p>``` c++
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// At the beginning, start from first child
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if( state != RUNNING) {
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index = 0;
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}
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state = RUNNING;</p><div class="codehilite"><pre><span></span>while( index &lt; number_of_children )
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{
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child_state = child[index]-&gt;tick();
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if( child_state == RUNNING ) {
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// Suspend execution and return RUNNING.
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// At the next tick, index will be the same.
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return state;
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}
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else if( child_state == FAILURE ) {
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// continue the while loop
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index++;
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}
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// Suspend execution and return SUCCESS.
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}
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// all the children returned failure. Return FAILURE too.
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state = FAILURE;
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<details class="example"><summary>See the pseudocode</summary><div class="codehilite"><pre><span></span> <span class="c1">// At the beginning, start from first child </span>
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<span class="k">if</span><span class="p">(</span> <span class="n">state</span> <span class="o">!=</span> <span class="n">RUNNING</span><span class="p">)</span> <span class="p">{</span>
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<span class="n">index</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="n">state</span> <span class="o">=</span> <span class="n">RUNNING</span><span class="p">;</span>
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<span class="k">while</span><span class="p">(</span> <span class="n">index</span> <span class="o">&lt;</span> <span class="n">number_of_children</span> <span class="p">)</span>
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<span class="p">{</span>
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<span class="n">child_state</span> <span class="o">=</span> <span class="n">child</span><span class="p">[</span><span class="n">index</span><span class="p">]</span><span class="o">-&gt;</span><span class="n">tick</span><span class="p">();</span>
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<span class="k">if</span><span class="p">(</span> <span class="n">child_state</span> <span class="o">==</span> <span class="n">RUNNING</span> <span class="p">)</span> <span class="p">{</span>
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<span class="c1">// Suspend execution and return RUNNING.</span>
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<span class="c1">// At the next tick, index will be the same.</span>
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<span class="n">state</span> <span class="o">=</span> <span class="n">RUNNING</span><span class="p">;</span>
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<span class="k">return</span> <span class="n">state</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="k">else</span> <span class="k">if</span><span class="p">(</span> <span class="n">child_state</span> <span class="o">==</span> <span class="n">FAILURE</span> <span class="p">)</span> <span class="p">{</span>
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<span class="c1">// continue the while loop</span>
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<span class="n">index</span><span class="o">++</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="k">else</span> <span class="k">if</span><span class="p">(</span> <span class="n">child_state</span> <span class="o">==</span> <span class="n">SUCCESS</span> <span class="p">)</span> <span class="p">{</span>
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<span class="c1">// Suspend execution and return SUCCESS.</span>
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<span class="c1">// index is reset and children are halted.</span>
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<span class="n">state</span> <span class="o">=</span> <span class="n">SUCCESS</span><span class="p">;</span>
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<span class="n">index</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span>
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<span class="n">HaltAllChildren</span><span class="p">();</span>
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<span class="k">return</span> <span class="n">state</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="c1">// all the children returned failure. Return FAILURE too.</span>
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<span class="k">return</span> <span class="n">state</span><span class="p">;</span>
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‎NodeParameters/index.html

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‎SequenceNode/index.html

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