CompositeComponent
A component that controls the execution of child nodes of BehaviorTree.
It is implemented by extending TaskComponent, so it can be used with nodes other than the behavior tree.
- Behavior Tree Execute
Executes one child node and returns the child node's result as its own execution result. - Selector
Executes child nodes in order from top to bottom. Execution ends when any child node returnssuccess. - Sequence
Executes child nodes in order from top to bottom. Execution ends when any child node returnsfailure. - Parallel Selector
Executes child nodes at the same time. Execution ends when any child node returnssuccess. - Parallel Sequence
Executes child nodes at the same time. Execution ends when any child node returnsfailure.
It starts executing when it becomes active, and transitions to the connection destination port when the TaskComponent completes execution.
Additional properties
| Property name | Type | Description |
|---|---|---|
| Result | OutputDataPort<bool> |
Outputs the execution result in bool type. |
Starts execution when it becomes active, and outputs a signal when the TaskComponent completes execution.
Additional properties
| Property name | Type | Description |
|---|---|---|
| Completed | OutputSignalPort |
Outputs the execution result as a signal. |
It starts execution when it becomes active, and returns the result to the parent node when it completes execution.
It becomes active when the judgment result of the input signal is true, and the result is reflected in the output signal when the child execution is completed.