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Davide Faconti
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‎README.md

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![License MIT](https://img.shields.io/dub/l/vibe-d.svg)
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![Version](https://img.shields.io/badge/version-v2.5-green.svg)
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[![Build Status](https://travis-ci.org/BehaviorTree/BehaviorTree.CPP.svg?branch=master)](https://travis-ci.org/BehaviorTree/BehaviorTree.CPP)
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![Version](https://img.shields.io/badge/version-v3.0-green.svg)
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[![Build Status](https://travis-ci.org/BehaviorTree/BehaviorTree.CPP.svg?branch=main)](https://travis-ci.org/BehaviorTree/BehaviorTree.CPP)
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Question? [![Join the chat at https://gitter.im/BehaviorTree-ROS/Lobby](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/BehaviorTree-ROS/Lobby?utm_source=badge&utm_medium=badge&utm_content=badge)
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# About BehaviorTree.CPP
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This __C++__ library provides a framework to create BehaviorTrees.
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It was designed to be flexible, easy to use and fast.
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It was designed to be flexible, easy to use, reactive and fast.
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Even if our main use-case is __robotics__, you can use this library to build
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__AI for games__, or to replace Finite State Machines in you application.
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__BehaviorTree.CPP__ has many interesting features, when compared to other implementations:
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- It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
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- It allows the creation of trees at run-time, using a textual representation (XML).
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- You can build reactive behaviors that execute multiple Actions concurrently.
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- It allows the creation of Trees at run-time, using a textual representation (XML);
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the fact that is written in C++ __does not__ imply that Trees are hard-coded.
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- You can link staticaly you custom TreeNodes or convert them into plugins
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which are loaded at run-time.
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- It includes a __logging/profiling__ infrastructure that allows the user
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to visualize, record, replay and analyze state transitions.
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- It provides a type-safe and flexible mechanism to do dataflow between
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Nodes of the Tree.
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# Documentation
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https://behaviortree.github.io/BehaviorTree.CPP/
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# About version 3.X
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The main goal of this project is to create a Behavior Tree implementation
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that uses the principles of Model Driven Development to separate the role
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of the __Component Developer__ from the __Behavior Designer__.
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In practice, this means that:
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- Custom TreeNodes must be reusable building blocks.
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You should be able to implement them once and reuse them in many contextes.
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- To build a Behavior Tree out of TreeNodes, the Behavior Designer must
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not need to read nor modify the source code of the a given TreeNode.
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Version 3 of this library introduce some dramatic changes in the API, but
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it was necessary to reach this goal.
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if you used version 2.X in the past, you can find
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[here](https://behaviortree.github.io/BehaviorTree.CPP/MigrationGuide).
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the Migration Guide.
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# GUI Editor
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Editing a BehaviorTree is as simple as editing a XML file in your favourite text editor.
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sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp
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If you want to compile it with catkin, just include this package in your catkin warkspace as usual.
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If you want to compile it with catkin, you __must__ include this package
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to your catkin workspace.
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# Acknowledgement
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- Introductory article: [Behavior trees for AI: How they work](http://www.gamasutra.com/blogs/ChrisSimpson/20140717/221339/Behavior_trees_for_AI_How_they_work.php)
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- **How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture,
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and Decision Trees.** Michele Colledanchise and Petter Ogren. IEEE Transaction on Robotics 2017.
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- **How Behavior Trees Modularize Hybrid Control Systems and Generalize
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Sequential Behavior Compositions, the Subsumption Architecture,
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and Decision Trees.**
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Michele Colledanchise and Petter Ogren. IEEE Transaction on Robotics 2017.
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- **Behavior Trees in Robotics and AI**, published by CRC Press Taylor & Francis, available for purchase
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- **Behavior Trees in Robotics and AI**,
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published by CRC Press Taylor & Francis, available for purchase
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(ebook and hardcover) on the CRC Press Store or Amazon.
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The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084
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The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084
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# License
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The MIT License (MIT)
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Copyright (c) 2014-2018 Michele Colledanchise
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Copyright (c) 2018 Davide Faconti
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Copyright (c) 2018-2019 Davide Faconti
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎docs/getting_started.md

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You can statically link it into your application (for example a game).
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There are some main concepts which you need to understand first.
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These are the main concepts which you need to understand first.
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## Nodes vs Trees
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Think about the LeafNodes as the building blocks which you need to compose
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a complex system.
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By definition, your custom Nodes are (or should be) highly reusable.
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But, at the beginning some wrapping interfaces might be needed to
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By definition, your custom Nodes are (or should be) highly __reusable__.
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But, at the beginning, some wrapping interfaces might be needed to
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adapt your legacy code.
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a long calculation.
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In production code, especially in Model Driven Development and Component
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Based Software Engineering, an Action/Condition would probably communiate
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Based Software Engineering, an Action/Condition would probably communicate
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to other _components_ or _services_ of the system.
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## Inheritance vs dependency injection.
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For the time being, it is important to know that:
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- A __Blackboard__ is a _key/value_ storage shared by all the Nodes of a Tree.
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- __Ports__ are a mechanism that Nodes can use to exchange information between
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each other.
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- Ports are _"connected"_ using the same _key_ of the blackboard.
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- The number, name and kind of ports of a Node must be known at _compilation-time_ (C++);
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connections between ports are done at _deployment-time_ (XML).
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‎docs/xml_format.md

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- The tag `<BehaviorTree>` should have the attribute `[ID]`.
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- The tag `<root>` should contain the attribute `[main_tree_to_execute]`,refering the ID of the main tree.
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- The tag `<root>` should contain the attribute `[main_tree_to_execute]`.
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- The attribute `[main_tree_to_execute]` is mandatory if the file contains multiple `<BehaviorTree>`,
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optional otherwise.
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- `ControlNodes` contain __1 to N children__.
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- `DecoratorNodes` and Subtrees contain __only 1 child__.
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- `ActionNodes` and `ConditionNodes` have __no child__.
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## Ports Remapping and pointers to Blackboards entries
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As explained in the [second tutorial](tutorial_02_basic_ports.md)
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input/output ports can be remapped using the name of an entry in the
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Blackboard, in other words, the __key__ of a __key/value__ pair of the BB.
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An BB key is represented using this syntax: `{key_name}`.
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In the following example:
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- the first child of the Sequence prints "Hello",
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- the second child reads and wrints the value contained in the entry of
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the blackboard called "my_message";
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<SaySomething message="Hello"/>
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<SaySomething message="{my_message}"/>
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</Sequence>
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</BehaviorTree>
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</root>
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```
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## Compact vs Explicit representation

‎src/decorators/repeat_node.cpp

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}
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try_index_ = 0;
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return (NodeStatus::SUCCESS);
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return NodeStatus::SUCCESS;
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}
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void RepeatNode::halt()

‎src/decorators/retry_node.cpp

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}
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try_index_ = 0;
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return (NodeStatus::FAILURE);
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return NodeStatus::FAILURE;
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}
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}

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