Module: intrinsic.solutions.behavior_tree
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Python API for behavior trees.
Includes a BehaviorTree class, which inherits from Plan, a nested Node class, which represents the nodes of the tree, and various children classes of Node for each type of supported BT node. The BehaviorTree includes a method to generate a Graphviz dot representation for it, a method to generate a proto of type behavior_tree_pb2, and a class method to initialize a new BehaviorTree from a BT proto object.
To execute the behavior tree, simply pass an instance of BehaviorTree to the executive.run() method.
Classes
class AllOf: A BehaviorTree condition encoding a boolean “and”.
class AnyOf: A BehaviorTree condition encoding a boolean “or”.
class BehaviorTree: Python wrapper around behavior_tree_pb2.BehaviorTree proto.
class Blackboard: A BT condition of type Blackboard.
class Branch: BT node of type Branch for behavior_tree_pb2.BehaviorTree.BranchNode.
class BreakpointType: Create a collection of name/value pairs.
class CompoundCondition: A base implementation for conditions composed of a number of conditions.
class Condition: Parent abstract base class for supported behavior tree conditions.
class Data: BT node of type Data for behavior_tree_pb2.DataNode.
class Debug: A BT node of type Debug for behavior_tree_pb2.BehaviorTree.DebugNode.
class Decorators: Collection of properties assigned to a node.
class DisabledResultState: Create a collection of name/value pairs.
class Fail: A BT node of type Fail for behavior_tree_pb2.BehaviorTree.FailNode.
class Fallback: BT node of type Fallback for behavior_tree_pb2.BehaviorTree.FallbackNode.
class IdRecorder: A visitor callable object that records tree ids and node ids.
class Loop: BT node of type Loop for behavior_tree_pb2.BehaviorTree.LoopNode.
class Node: Parent abstract base class for all the supported behavior tree nodes.
class NodeExecutionMode: Create a collection of name/value pairs.
class NodeIdentifierType: NodeIdentifierType(tree_id, node_id)
class NodeWithChildren: A parent class for any behavior tree node that has self.children.
class Not: A BT condition of type Not.
class Parallel: BT node of type Parallel for behavior_tree_pb2.BehaviorTree.ParallelNode.
class Retry: BT node of type Retry for behavior_tree_pb2.BehaviorTree.RetryNode.
class Selector: BT node of type Selector for behavior_tree_pb2.BehaviorTree.SelectorNode.
class Sequence: A BT node of type Sequence.
class SubTree: A BT node of type SubTree for behavior_tree_pb2.SubTreeNode.
class SubTreeCondition: A BT condition of type SubTree.
class Task: A BT node of type Task for behavior_tree_pb2.TaskNode.
class WorldQuery: Wrapper for WorldQuery proto for easier construction and conversion.