Skip to content

Update fallback documentation to V3 #288

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Jul 11, 2021
Merged

Update fallback documentation to V3 #288

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6761c04
Update FallbackNode.md description to V3
Affonso-Gui Jun 10, 2021
0f6b117
Fix typo
Affonso-Gui Jun 10, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion docs/BT_basics.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ The first two, as their names suggests, inform their parent that their operation
was a success or a failure.

RUNNING is returned by __asynchronous__ nodes when their execution is not
completed and they needs more time to return a valid result.
completed and they need more time to return a valid result.

__Asynchronous nodes can be halted__.

Expand Down
24 changes: 17 additions & 7 deletions docs/FallbackNode.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,11 @@ in other frameworks.

Their purpose is to try different strategies, until we find one that "works".

Currently the framework provides two kinds of nodes:

- Fallback
- ReactiveFallback

They share the following rules:

- Before ticking the first child, the node status becomes __RUNNING__.
Expand All @@ -17,14 +22,19 @@ They share the following rules:
- If a child returns __SUCCESS__, it stops and returns __SUCCESS__.
All the children are halted.

The two versions of Fallback differ in the way they react when a child returns
RUNNING:
To understand how the two ControlNodes differ, refer to the following table:

- FallbackStar will return RUNNING and the next time it is ticked,
it will tick the same child where it left off before.

- Plain old Fallback will return RUNNING and the index of the next child to
execute is reset after each execution.
| Type of ControlNode | Child returns RUNNING |
|---|:---:|
| Fallback | Tick again |
| ReactiveFallback | Restart |

- "__Restart__" means that the entire fallback is restarted from the first
child of the list.

- "__Tick again__" means that the next time the fallback is ticked, the
same child is ticked again. Previous sibling, which returned FAILURE already,
are not ticked again.

## Fallback

Expand Down
2 changes: 1 addition & 1 deletion docs/index.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ __BehaviorTree.CPP__ has many interesting features, when compared to other imple

- It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
- It allows the creation of trees at run-time, using a textual representation (XML).
- You can link staticaly you custom TreeNodes or convert them into plugins
- You can link staticaly your custom TreeNodes or convert them into plugins
which are loaded at run-time.
- It includes a __logging/profiling__ infrastructure that allows the user
to visualize, record, replay and analyze state transitions.
Expand Down