BehaviorTree Namespace Reference

Classes
class	BehaviorTreeNode
	Abstract base clase for Behavior Tree Nodes. More...
class	BehaviorTreeInternalNode
	Abstract base class for Behavior Tree nodes with children. More...
class	BehaviorTreeDecoratorNode
	Abstract base class for Behavior Tree nodes with exactly one child. More...
class	AlwaysRunning
	Always returns the BT_RUNNING status. More...
class	AlwaysSuccess
	Always returns the BT_SUCCESS status. More...
class	AlwaysFailure
	Always returns the BT_FAILURE status. More...
class	SuccessAfter
	Returns BT_RUNNING for the specified number of iterations, then returns BT_SUCCESS after that. More...
class	FailureAfter
	Returns BT_RUNNING for the specified number of iterations, then returns BT_FAILURE after that. More...
class	BehaviorTreeUtil
class	BoolCondition
	Wraps a function or member pointer that returns a boolean value into a conditional node. More...
class	NoClass
class	CountLimitNode
	Limit the number of times this tree section can execute before it becomes blocked off. More...
class	FloatCondition
	Wraps a function or member pointer that returns a float value into a conditional node. More...
class	FunctionCall
	Wraps a function or member pointer into a Behavior Tree Node. More...
class	IntCondition
	Wraps a function or member pointer that returns an integer value into a conditional node. More...
class	ParallelNode
	Execute behaviors in parallel. More...
class	PriorityNode
	Executes behaviors in priority order until one of them is successful. More...
struct	WeightedBehaviorTreeNode
class	ProbabilityNode
	Executes behaviors randomly, based on a given set of weights. More...
class	RepeatNode
	A node that repeats its child a specified number of times. More...
class	SequentialNode
	Executes behaviors in order. More...

Typedefs
typedef uint8_t	FAILURE_POLICY
	Enumerates the options for when a parallel node is considered to have failed. More...
typedef uint8_t	SUCCESS_POLICY
	Enumerates the options for when a parallel node is considered to have succeeded. More...

Enumerations
enum	BEHAVIOR_STATUS { BT_SUCCESS, BT_FAILURE, BT_RUNNING }
	Enumerates the states every node can be in after execution during a particular time step. More...
enum	TRAVERSAL_POLICY { RESTART, CONTINUE }
	Enumerates the options for when a priority node returns BT_RUNNING. More...
enum	FLOAT_TEST {   LESS_THAN_FP, GREATER_THAN_FP, LESS_OR_CLOSE, GREATER_OR_CLOSE,   CLOSE, NOT_CLOSE }
	These are the numerical tests that are available for floating point numbers. More...
enum	INT_TEST {   LESS_THAN, GREATER_THAN, LESS_OR_EQ, GREATER_OR_EQ,   EQUAL, NOT_EQUAL }
	These are the numerical tests that are available for integers. More...

Functions
BehaviorTreeNode *	end ()
WeightedBehaviorTreeNode	endWeighted ()

Variables
BehaviorTreeUtil	BT

Typedef Documentation

typedef uint8_t BehaviorTree::FAILURE_POLICY

Enumerates the options for when a parallel node is considered to have failed.

• FAIL_ON_ONE indicates that the node will return failure as soon as one of its children fails.
• FAIL_ON_ALL indicates that all of the node's children must fail before it returns failure.

If FAIL_ON_ONE and SUCEED_ON_ONE are both active and are both trigerred in the same time step, failure will take precedence.

typedef uint8_t BehaviorTree::SUCCESS_POLICY

Enumerates the options for when a parallel node is considered to have succeeded.

• SUCCEED_ON_ONE indicates that the node will return success as soon as one of its children succeeds.
• SUCCEED_ON_ALL indicates that all of the node's children must succeed before it returns success.

Enumeration Type Documentation

enum BehaviorTree::BEHAVIOR_STATUS

Enumerates the states every node can be in after execution during a particular time step.

• BT_SUCCESS indicates the node has completed running during this time step.
• BT_FAILURE indicates the node has determined it will not be able to complete its task.
• BT_RUNNING indicates that the node has successfully moved forward during this time step, but the task is not yet complete.

Enumerator
BT_SUCCESS
BT_FAILURE
BT_RUNNING

enum BehaviorTree::FLOAT_TEST

These are the numerical tests that are available for floating point numbers.

Because of Floating Point precision and rounding issues, testing for exact equalities is unwise. Therefore, the FloatCondition constructor accepts an optional value to determine how strict equality checks are.

Enumerator
LESS_THAN_FP
GREATER_THAN_FP
LESS_OR_CLOSE
GREATER_OR_CLOSE
CLOSE
NOT_CLOSE

enum BehaviorTree::INT_TEST

These are the numerical tests that are available for integers.

Enumerator
LESS_THAN
GREATER_THAN
LESS_OR_EQ
GREATER_OR_EQ
EQUAL
NOT_EQUAL

enum BehaviorTree::TRAVERSAL_POLICY

Enumerates the options for when a priority node returns BT_RUNNING.

• RESTART indicates that the priority node will restart from the beginning, thus ignoring the BT_RUNNING value
• CONTINUE indicates that the priority node will continue at the node that returned the BT_RUNNING value

Enumerator
RESTART
CONTINUE

Function Documentation

BehaviorTreeNode* BehaviorTree::end

(

)

WeightedBehaviorTreeNode BehaviorTree::endWeighted

(

)

Variable Documentation

BehaviorTreeUtil BehaviorTree::BT