Composition of Behaviors with Subtree

Composition of Behaviors with Subtree

可以构建将多个更小的可重复使用的行为到一个更大的树中；

换句话说，想构建分层的行为树；

通过在XML中定义多个树来实现；

CrossDoor behavior

This example is inspired by a popular ​​article about behavior trees​​.

It is also the first practical example that uses ​​Decorators​​​ and ​​Fallback​​.

The desired behavior is:

If the door is open,​​PassThroughDoor​​.If the door is closed, try up to 4 times to​​OpenDoor​​​ and, then,​​PassThroughDoor​​.If it was not possible to open the closed door,​​PassThroughWindow​​.

Loggers

一个Logger是一种用于显示，记录，或者发布在树中任何状态的改变的机制：

int main(){ using namespace BT; BehaviorTreeFactory factory; // register all the actions into the factory // We don't show how these actions are implemented, since most of the // times they just print a message on screen and return SUCCESS. // See the code on Github for more details. factory.registerSimpleCondition("IsDoorOpen", std::bind(IsDoorOpen)); factory.registerSimpleAction("PassThroughDoor", std::bind(PassThroughDoor)); factory.registerSimpleAction("PassThroughWindow", std::bind(PassThroughWindow)); factory.registerSimpleAction("OpenDoor", std::bind(OpenDoor)); factory.registerSimpleAction("CloseDoor", std::bind(CloseDoor)); factory.registerSimpleCondition("IsDoorLocked", std::bind(IsDoorLocked)); factory.registerSimpleAction("UnlockDoor", std::bind(UnlockDoor)); // Load from text or file... auto tree = factory.createTreeFromText(xml_text); // This logger prints state changes on console StdCoutLogger logger_cout(tree); // This logger saves state changes on file FileLogger logger_file(tree, "bt_trace.fbl"); // This logger stores the execution time of each node MinitraceLogger logger_minitrace(tree, "bt_trace.json");#ifdef ZMQ_FOUND // This logger publish status changes using ZeroMQ. Used by Groot PublisherZMQ publisher_zmq(tree);#endif printTreeRecursively(tree.rootNode()); //while (1) { NodeStatus status = NodeStatus::RUNNING; // Keep on ticking until you get either a SUCCESS or FAILURE state while( status == NodeStatus::RUNNING) { status = tree.tickRoot(); CrossDoor::SleepMS(1); // optional sleep to avoid "busy loops" } CrossDoor::SleepMS(2000); } return 0;}

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