intrinsic.solutions.behavior_tree.SubTree

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A BT node of type SubTree for behavior_tree_pb2.SubTreeNode.

Inherits From: Node

intrinsic.solutions.behavior_tree.SubTree(
behavior_tree: Optional[Union['Node', 'BehaviorTree']] = None,
name: Optional[str] = None
)

This node is usually used to group components into a subtree.

Args
behavior_tree	behavior tree or root node of a tree for this subtree. If passing a root node you must also provide the name argument.
name	name of the behavior tree, if behavior_tree is a node, i.e., a root node of a tree; otherwise, the name of this node.

Attributes
behavior_tree	The subtree, a BehaviorTree object.
name	The name of the subtree node.
proto	The proto representation of the node.
node_type	A string label of the node type.
breakpoint
decorators
execution_mode
node_id

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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dot_graph(
node_id_suffix: str = ''
) -> Tuple[graphviz.Digraph, str]

Converts the given subtree into a graphviz dot graph.

The edge goes from parent to the root node of the subtree.

Args
node_id_suffix	A little string with the suffix to make the given node unique in the dot graph.

Returns
A tuple of graphviz dot graph representation of the full subtree and the name of the subtree'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_behavior_tree

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set_behavior_tree(
behavior_tree: Union['Node', 'BehaviorTree'], name: Optional[str] = None
) -> 'SubTree'

Sets the subtree's behavior tree.

Args
behavior_tree	behavior tree or root node of a tree for this subtree. If passing a root node you must also provide the name argument.
name	name of the behavior tree, if behavior_tree is a node, i.e., a root node of a tree; otherwise, the name of this node.

Returns
self for chaining.

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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set_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