31 lines
1.7 KiB
XML
31 lines
1.7 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<class name="BTState" inherits="LimboState" 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>
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<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>
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<tutorials>
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</tutorials>
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<methods>
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<method name="get_tree_instance" qualifiers="const">
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<return type="BTTask" />
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<description>
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Returns the root task of the instantiated behavior tree.
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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="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>
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<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>
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<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>
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</members>
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</class>
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