intrinsic.solutions.behavior_tree.Node

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Parent abstract base class for all the supported behavior tree nodes.

Attributes
proto	The proto representation of the node.
name	Optional name of the node.
node_type	A string label of the node type.
decorators	A list of decorators for the current node.
breakpoint	Optional type of breakpoint configured for this node.
execution_mode	Optional execution mode for this node.
node_id	A unique id for this node.

Methods

create_from_proto

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@classmethodcreate_from_proto(
proto_object: behavior_tree_pb2.BehaviorTree.Node
) -> 'Node'

Instantiates a Node instance from a proto.

disable_execution

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disable_execution(
result_state: Optional[intrinsic.solutions.behavior_tree.DisabledResultState] = None
) -> 'Node'

Disables a node, so that it is not executed and appears to be skipped.

Args
result_state	Optionally force the result of the execution to this state. If not set, the resulting state is automatically determined, so that the node is skipped.

Returns
Builder pattern, returns self.

dot_graph

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@abc.abstractmethoddot_graph(
node_id_suffix: str = '',
node_label: Optional[str] = None,
name: Optional[str] = None
) -> Tuple[graphviz.Digraph, str]

Generates a graphviz subgraph with a single node for self.

Args
node_id_suffix	A little string of form _1_2, which is just a suffix to make a unique node name in the graph. If the node names clash within the graph, they are merged into one, and we do not want to merge unrelated nodes.
node_label	The label is typically just the type of the node. To use a different value, this argument can be used.
name	name of the node as set by the user.

Returns
A tuple of the generated graphviz dot graph and the name of the graph's root node.

enable_execution

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enable_execution() -> 'Node'

Enables a node, so that it will be executed.

Returns
Builder pattern, returns self.

generate_and_set_unique_id

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generate_and_set_unique_id() -> int

Generates a new random id and sets it for this node.

set_breakpoint

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set_breakpoint(
breakpoint_type: Optional['BreakpointType']
) -> 'Node'

Sets the breakpoint type on the decorator.

Args
breakpoint_type	desired breakpoint type, None to remove type.

Returns
Builder pattern, returns self.

set_decorators

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@abc.abstractmethodset_decorators(
decorators: Optional['Decorators']
) -> 'Node'

show

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show() -> None

visit

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visit(
containing_tree: 'BehaviorTree',
callback: Callable[['BehaviorTree', Union['BehaviorTree', 'Node', 'Condition']], None]
) -> None