BehaviorTree.CPP
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BehaviorTree
How to use Parallel node
hi, could you please provide an example of using parallel node ,all of your doc only provide the squence, fallback control node example. thx(^o^)／
Yeah I am a bit confused here by what this 'parallel' means. Is this meant to be 'concurrent' or is there some magic that forces the use of a separate processor we assume to exist.
Otherwise I don't follow what parallel does that is different from corountines or reactiveSequence
there is indeed a conceptual overlap with reactive nodes.
This is the reason why, if BT.CPP even reaches version 4.0, I will convert the reactive nodes into Parallel ones.
Things are starting to make a little more sense reading into the code.
The comments in some of the bt_navigator plugin control nodes are helpful, explaining the execution flows such as the following from 'round_roboin_node':
* | A | B | C |
* --------------------------------
* | IDLE | IDLE | IDLE |
* | RUNNING | IDLE | IDLE | - at first A gets ticked. Assume it returns RUNNING
* - RoundRobin returns RUNNING and no other nodes are ticked.
* | FAILURE | RUNNING | IDLE | - A returns FAILURE so B gets ticked and returns RUNNING
* - RoundRobin returns RUNNING and C is not ticked yet
* | FAILURE | SUCCESS | IDLE | - B returns SUCCESS, so RoundRobin halts all children and
* - returns SUCCESS, next iteration will tick C.
* | RUNNING | IDLE | FAILURE | - C returns FAILURE, so RoundRobin circles and ticks A.
* - A returns RUNNING, so RoundRobin returns RUNNING.
Yes, at least the doc should refer to its name, as well as ParallelAll, to indicate its existence. I guess this is 3thd most important control node in my opinion. @albuckley https://arxiv.org/pdf/1709.00084.pdf
