limboai/doc/source/classes/class_btprobabilityselector.rst

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.. _class_BTProbabilitySelector:

BTProbabilitySelector
=====================

**Inherits:** :ref:`BTComposite<class_BTComposite>` **<** :ref:`BTTask<class_BTTask>` **<** :ref:`BT<class_BT>`

BT composite that chooses a child task to execute based on attached probabilities.

.. rst-class:: classref-introduction-group

Description
-----------

BTProbabilitySelector chooses a child task to execute based on attached probabilities. It is typically used for decision-making purposes. Probability distribution is calculated based on weights assigned to each child task.

Returns ``SUCCESS`` when a child task results in ``SUCCESS``.

Returns ``RUNNING`` when a child task results in ``RUNNING``.

The behavior of BTProbabilitySelector when a child task results in ``FAILURE`` depends on the :ref:`abort_on_failure<class_BTProbabilitySelector_property_abort_on_failure>` value:

- If :ref:`abort_on_failure<class_BTProbabilitySelector_property_abort_on_failure>` is ``false``, when a child task results in ``FAILURE``, BTProbabilitySelector will normalize the probability distribution over the remaining children and choose a new child task to be executed. If all child tasks fail, the composite will return ``FAILURE``.

- If :ref:`abort_on_failure<class_BTProbabilitySelector_property_abort_on_failure>` is ``true``, when a child task results in ``FAILURE``, BTProbabilitySelector will not choose another child task to be executed and will immediately return ``FAILURE``.

.. rst-class:: classref-reftable-group

Properties
----------

.. table::
   :widths: auto

   +------+--------------------------------------------------------------------------------+-----------+
   | bool | :ref:`abort_on_failure<class_BTProbabilitySelector_property_abort_on_failure>` | ``false`` |
   +------+--------------------------------------------------------------------------------+-----------+

.. rst-class:: classref-reftable-group

Methods
-------

.. table::
   :widths: auto

   +-------+-------------------------------------------------------------------------------------------------------------------------+
   | float | :ref:`get_probability<class_BTProbabilitySelector_method_get_probability>` **(** int child_idx **)** |const|            |
   +-------+-------------------------------------------------------------------------------------------------------------------------+
   | float | :ref:`get_total_weight<class_BTProbabilitySelector_method_get_total_weight>` **(** **)** |const|                        |
   +-------+-------------------------------------------------------------------------------------------------------------------------+
   | float | :ref:`get_weight<class_BTProbabilitySelector_method_get_weight>` **(** int child_idx **)** |const|                      |
   +-------+-------------------------------------------------------------------------------------------------------------------------+
   | bool  | :ref:`has_probability<class_BTProbabilitySelector_method_has_probability>` **(** int child_idx **)** |const|            |
   +-------+-------------------------------------------------------------------------------------------------------------------------+
   | void  | :ref:`set_probability<class_BTProbabilitySelector_method_set_probability>` **(** int child_idx, float probability **)** |
   +-------+-------------------------------------------------------------------------------------------------------------------------+
   | void  | :ref:`set_weight<class_BTProbabilitySelector_method_set_weight>` **(** int child_idx, float weight **)**                |
   +-------+-------------------------------------------------------------------------------------------------------------------------+

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Property Descriptions
---------------------

.. _class_BTProbabilitySelector_property_abort_on_failure:

.. rst-class:: classref-property

bool **abort_on_failure** = ``false``

.. rst-class:: classref-property-setget

- void **set_abort_on_failure** **(** bool value **)**
- bool **get_abort_on_failure** **(** **)**

If ``true``, BTProbabilitySelector will not choose another child to execute and will return ``FAILURE`` when a child task results in ``FAILURE``.

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Method Descriptions
-------------------

.. _class_BTProbabilitySelector_method_get_probability:

.. rst-class:: classref-method

float **get_probability** **(** int child_idx **)** |const|

Returns the child task's selection probability.

.. rst-class:: classref-item-separator

----

.. _class_BTProbabilitySelector_method_get_total_weight:

.. rst-class:: classref-method

float **get_total_weight** **(** **)** |const|

Returns the total weight of all child tasks.

.. rst-class:: classref-item-separator

----

.. _class_BTProbabilitySelector_method_get_weight:

.. rst-class:: classref-method

float **get_weight** **(** int child_idx **)** |const|

Returns the child task's weight within the weighted probability selection algorithm.

.. rst-class:: classref-item-separator

----

.. _class_BTProbabilitySelector_method_has_probability:

.. rst-class:: classref-method

bool **has_probability** **(** int child_idx **)** |const|

Returns whether the child task at index ``child_idx`` participates within the weighted probability selection algorithm and has a probability assigned to it. Returns ``false`` for :ref:`BTComment<class_BTComment>` tasks.

.. rst-class:: classref-item-separator

----

.. _class_BTProbabilitySelector_method_set_probability:

.. rst-class:: classref-method

void **set_probability** **(** int child_idx, float probability **)**

Sets the child task's weight calculated based on the desired probability.

.. rst-class:: classref-item-separator

----

.. _class_BTProbabilitySelector_method_set_weight:

.. rst-class:: classref-method

void **set_weight** **(** int child_idx, float weight **)**

Sets the child task's weight for the weighted probability selection algorithm.

.. |virtual| replace:: :abbr:`virtual (This method should typically be overridden by the user to have any effect.)`
.. |const| replace:: :abbr:`const (This method has no side effects. It doesn't modify any of the instance's member variables.)`
.. |vararg| replace:: :abbr:`vararg (This method accepts any number of arguments after the ones described here.)`
.. |constructor| replace:: :abbr:`constructor (This method is used to construct a type.)`
.. |static| replace:: :abbr:`static (This method doesn't need an instance to be called, so it can be called directly using the class name.)`
.. |operator| replace:: :abbr:`operator (This method describes a valid operator to use with this type as left-hand operand.)`
.. |bitfield| replace:: :abbr:`BitField (This value is an integer composed as a bitmask of the following flags.)`