67 lines
3.4 KiB
XML
67 lines
3.4 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<class name="BTProbabilitySelector" inherits="BTComposite" 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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BT composite that chooses a child task to execute based on attached probabilities.
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</brief_description>
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<description>
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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.
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Returns [code]SUCCESS[/code] when a child task results in [code]SUCCESS[/code].
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Returns [code]RUNNING[/code] when a child task results in [code]RUNNING[/code].
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The behavior of BTProbabilitySelector when a child task results in [code]FAILURE[/code] depends on the [member abort_on_failure] value:
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- If [member abort_on_failure] is [code]false[/code], when a child task results in [code]FAILURE[/code], 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 [code]FAILURE[/code].
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- If [member abort_on_failure] is [code]true[/code], when a child task results in [code]FAILURE[/code], BTProbabilitySelector will not choose another child task to be executed and will immediately return [code]FAILURE[/code].
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</description>
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<tutorials>
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</tutorials>
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<methods>
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<method name="get_probability" qualifiers="const">
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<return type="float" />
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<param index="0" name="p_index" type="int" />
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<description>
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Returns the child task's selection probability.
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</description>
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</method>
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<method name="get_total_weight" qualifiers="const">
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<return type="float" />
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<description>
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Returns the total weight of all child tasks.
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</description>
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</method>
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<method name="get_weight" qualifiers="const">
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<return type="float" />
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<param index="0" name="p_index" type="int" />
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<description>
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Returns the child task's weight within the weighted probability selection algorithm.
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</description>
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</method>
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<method name="has_probability" qualifiers="const">
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<return type="bool" />
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<param index="0" name="p_index" type="int" />
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<description>
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Returns whether the child task at index [param p_index] participates within the weighted probability selection algorithm and has a probability assigned to it. Returns [code]false[/code] for [BTComment] tasks.
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</description>
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</method>
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<method name="set_probability">
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<return type="void" />
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<param index="0" name="p_index" type="int" />
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<param index="1" name="p_probability" type="float" />
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<description>
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Sets the child task's weight calculated based on the desired probability.
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</description>
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</method>
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<method name="set_weight">
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<return type="void" />
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<param index="0" name="p_index" type="int" />
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<param index="1" name="p_weight" type="float" />
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<description>
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Sets the child task's weight for the weighted probability selection algorithm.
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</description>
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</method>
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</methods>
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<members>
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<member name="abort_on_failure" type="bool" setter="set_abort_on_failure" getter="get_abort_on_failure" default="false">
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If [code]true[/code], BTProbabilitySelector will not choose another child to execute and will return [code]FAILURE[/code] when a child task results in [code]FAILURE[/code].
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</member>
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</members>
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</class>
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