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Update standard tree nodes model for BT v4 #7

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May 12, 2023
Merged

Update standard tree nodes model for BT v4 #7

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74531aa
Update standard tree nodes model for BT v4
Apr 20, 2023
9c6ce94
Update src/picknik_ur_base_config/objectives/standard_tree_nodes_mode…
Apr 20, 2023
83ee44e
Update studio core tree nodes model
Apr 20, 2023
36d5a6a
Add precondition and script, remove blackboardcheckstring
May 12, 2023
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27 changes: 17 additions & 10 deletions src/picknik_ur_base_config/objectives/standard_tree_nodes_model.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,10 +35,10 @@
<p>The ParallelNode executes all its children concurrently, but not in separate threads!</p>
<p>Even if this may look similar to ReactiveSequence, this Control Node is the only one that can have multiple children RUNNING at the same time.</p>
<p>The Node is completed either when the THRESHOLD_SUCCESS or THRESHOLD_FAILURE number is reached (both configured using ports).</p>
<p> If any of the threaholds are reached, and other children are still running, they will be halted.</p>
<p> If any of the thresholds are reached, and other children are still running, they will be halted.</p>
</description>
<input_port name="success_threshold" default="">Number of children which need to succeed to trigger a SUCCESS.</input_port>
<input_port name="failure_threshold" default="">Number of children which need to fail to trigger a FAILURE.</input_port>
<input_port name="success_count" default="">Number of children which need to succeed to trigger a SUCCESS.</input_port>
<input_port name="failure_count" default="">Number of children which need to fail to trigger a FAILURE.</input_port>
</Control>
<Control ID="ReactiveSequence">
<description>
Expand Down Expand Up @@ -81,16 +81,15 @@
<p>If the 2nd or 3d child is RUNNING and the statement changes, the RUNNING child will be stopped before starting the sibling.</p>
</description>
</Control>
<Decorator ID="BlackboardCheckString">
<Decorator ID="Precondition">
<description>
<p>Executes its child node only if the string value of a given input port is equal to the expected value.</p>
<p>If this precondition is met, the child node will be run and this node will return the status returned from the child.</p>
<p>Executes its child node only if a condition is met.</p>
<p>If the precondition is met, the child node will be run and this node will return the status returned from the child.</p>
<p>If the precondition is not met, this node will return the BT::NodeStatus value specified in "return_on_mismatch".</p>
</description>
<input_port name="value_A" default="some_value">First string value to compare.</input_port>
<input_port name="value_B" default="some_other_value">Second string value to compare.</input_port>
<input_port name="return_on_mismatch" default="SUCCESS">Status to return if value_A and value_B have different values. Can be RUNNING, SUCCESS, or FAILURE.</input_port>
</Decorator>
<input_port name="if" default="">If condition</input_port>
<input_port name="else" default="SUCCESS">Status to return if condition not met. Can be RUNNING, SUCCESS, or FAILURE.</input_port>
</Decorator>
<Decorator ID="Inverter">
<description>
<p>Tick the child once and return SUCCESS if the child failed or FAILURE if the child succeeded.</p>
Expand Down Expand Up @@ -157,6 +156,14 @@
<input_port name="value" default="">Value represented as a string. convertFromString must be implemented.</input_port>
<inout_port name="output_key" default="">Name of the blackboard entry where the value should be written.</inout_port>
</Action>
<Action ID="Script">
<description>
<p>Introduced in BT.CPP 4 to integrate scripting language within XML</p>
<p>Allows users to read from and write to variables in the blackboard</p>
<p>Can perform operation like assignment, comparison, etc.</p>
</description>
<input_port name="code" default="">Code that can be parsed.</input_port>
</Action>
<SubTree />
</TreeNodesModel>
</root>
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