Struct BehaviorTree 

pub struct BehaviorTree { /* private fields */ }

A Tree of BehaviorTreeElements. A certain BehaviorTree can contain up to 65536 BehaviorTreeElements.

Implementations

impl BehaviorTree

pub fn new(root: BehaviorTreeElement, registry: &BehaviorRegistry) -> Self

create a Tree with reference to its libraries

pub const fn blackboard(&self) -> &Databoard

Access the root blackboard of the tree.

pub fn print(&self) -> Result<(), Error>

Pretty print the tree.

Errors

• if tree depth exceeds 127 (sub)tree levels.

pub fn subtree(&self, index: usize) -> Result<&BehaviorTreeElement, Error>

Get a (sub)tree where index 0 is root tree.

Errors

• if subtree is not found.

pub const fn uuid(&self) -> Uuid

Get the trees uuid.

pub fn sender(&self) -> Sender<BehaviorTreeMessage>

Get a message sender. This sender can be used to modify the tree while running.

pub fn size(&self) -> u16

Get the trees total number of children.

pub async fn tick_exactly_once(&mut self) -> BehaviorResult

Ticks the tree exactly once.

Errors

pub async fn tick_once(&mut self) -> BehaviorResult

Ticks the tree once. @TODO: The wakeup mechanism is not yet implemented

Errors

pub async fn tick_while_running(&mut self) -> BehaviorResult

Ticks the tree until it finishes either with BehaviorState::Success or BehaviorState::Failure.

Errors

pub fn iter(&self) -> impl Iterator<Item = &BehaviorTreeElement>

Get an iterator over the tree.

pub fn iter_mut(&mut self) -> impl Iterator<Item = &mut BehaviorTreeElement>

Get a mutable iterator over the tree.

pub fn reset(&mut self) -> Result<(), BehaviorError>

Reset tree to initial state.

Errors

• if reset of children failed