67 lines
2.9 KiB
XML
67 lines
2.9 KiB
XML
<?xml version="1.0"?>
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<root main_tree_to_execute="BehaviorTree">
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<!-- ////////// -->
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<BehaviorTree ID="BehaviorTree">
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<Fallback>
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<ReactiveSequence>
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<Inverter>
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<Condition ID="IsCalled"/>
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</Inverter>
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<Sequence>
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<Control ID="WeightedRandom" weights="10;2;1">
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<Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
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<Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
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<Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
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</Control>
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<Action ID="MoveActorToTarget" current="{actorPos}" target="{actorTarget}"/>
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</Sequence>
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</ReactiveSequence>
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<Sequence>
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<Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
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<Action ID="MoveActorToTarget" current="{actorPos}" target="{actorTarget}"/>
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<Action ID="SetCalledTo" state="false"/>
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</Sequence>
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</Fallback>
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</BehaviorTree>
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<!-- ////////// -->
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<TreeNodesModel>
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<Condition ID="IsCalled"/>
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<Action ID="SetCalledTo">
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<input_port name="state">state to set called to</input_port>
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</Action>
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<Action ID="GenerateXYPose">
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<input_port name="area">Area to generate pose in</input_port>
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<output_port name="pose">Generated pose in area</output_port>
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</Action>
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<Condition ID="InAreaTest">
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<input_port name="area">Bounds to check in</input_port>
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<input_port name="pose">Position of object</input_port>
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</Condition>
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<Action ID="MoveActorToTarget">
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<input_port name="current">Current actor position</input_port>
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<input_port name="target">Target to move actor to</input_port>
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</Action>
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<Action ID="PositionToPose">
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<input_port name="offset">offset as a Point</input_port>
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<input_port name="orientation">rotation of resulting pose as Quaternion</input_port>
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<input_port name="output">generated new pose</input_port>
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<input_port name="position">initial position as Position2D</input_port>
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</Action>
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<Action ID="SetRobotVelocity">
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<input_port name="velocity">Target velocity of robot</input_port>
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</Action>
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<Action ID="RandomFailure">
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<input_port name="failureChance">Chance to fail from 0 to 1</input_port>
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</Action>
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<Action ID="RobotMove">
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<input_port name="target">Target pose of robot.</input_port>
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</Action>
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<Control ID="WeightedRandom">
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<input_port name="weights">Weights for the children, separated by semicolon.</input_port>
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</Control>
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</TreeNodesModel>
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<!-- ////////// -->
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</root>
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