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<?xml version="1.0" encoding="UTF-8" ?>
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<class name= "BTState" inherits= "LimboState" version= "4.1" xmlns:xsi= "http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation= "../../../doc/class.xsd" >
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<brief_description >
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A state node for [LimboHSM] that hosts a [BehaviorTree].
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</brief_description>
<description >
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BTState is a [LimboState] node that manages a [BehaviorTree] to provide behavior logic for the state. It instantiates and runs the [BehaviorTree] resource, dispatching a state machine event upon [code]SUCCESS[/code] or [code]FAILURE[/code]. Event names are customizable through [member success_event] and [member failure_event]. For further details on state machine events, see [method LimboState.dispatch].
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</description>
<tutorials >
</tutorials>
<members >
<member name= "behavior_tree" type= "BehaviorTree" setter= "set_behavior_tree" getter= "get_behavior_tree" >
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A [BehaviorTree] resource that defines state behavior.
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</member>
<member name= "failure_event" type= "String" setter= "set_failure_event" getter= "get_failure_event" default= ""failure"" >
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HSM event that will be dispatched when the behavior tree results in [code]FAILURE[/code]. See [method LimboState.dispatch].
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</member>
<member name= "success_event" type= "String" setter= "set_success_event" getter= "get_success_event" default= ""success"" >
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HSM event that will be dispatched when the behavior tree results in [code]SUCCESS[/code]. See [method LimboState.dispatch].
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</member>
</members>
</class>
