BehaviorTree/BehaviorTree.CPP
BehaviorTree.CPP
BehaviorTree.CPP 是一个 C++ 库，用于使用分层树结构设计任务切换逻辑和反应行为。它提供了一个框架，用于创建通过执行引擎和用于在节点间共享状态的集中式数据存储来管理复杂行为的反应式逻辑系统。
该库通过使用 XML 解析器定义树形态，将高级行为逻辑与源代码解耦。它通过用于监视实时执行状态的专用可视化工具，以及用于将 ROS2 操作和服务集成到行为树中以进行机器人控制的专用桥接器，进一步扩展了其功能。
该系统支持异步任务管理和反应式行为设计，允许编排长时间运行的操作，并能够根据环境条件中断任务。它利用黑板进行数据交换，利用基于端口的变量映射实现模块化，并支持通过插件进行运行时扩展。
Features
- Behavior Trees - Provides a C++ framework for implementing hierarchical behavior trees to manage complex task logic in autonomous agents.
- Reactive Behavior Design - Enables the creation of system logic that monitors environment conditions to interrupt current tasks and switch behaviors in real time.
- Robotic Task Orchestration - Manages complex robot behaviors and task-switching by organizing actions into a hierarchical tree structure.
- XML Workflow Definitions - Uses XML files to declaratively define the behavior tree logic and structure, decoupling it from C++ code.
- ROS2 Ecosystem Integrations - Provides a software bridge to connect behavior tree deliberation logic with ROS2 actions and services.
- Asynchronous Task Management - Handles long-running non-blocking operations that return a running status to keep the main execution loop responsive.
- Blackboard Patterns - Provides a centralized blackboard for coordinating state and data exchange between disparate behavior tree nodes.
- Tick-Based Execution Models - Processes the behavior tree by periodically triggering root updates that propagate status signals through the node hierarchy.
- Debugging and Monitoring - Provides tools for inspecting real-time node transitions and blackboard state to debug complex behaviors.
- Behavior Tree Parsers - Implements a system for parsing XML files to decouple behavioral logic design from the compiled C++ source.
- Composite-Decorator Nodes - Utilizes composite-decorator nodes to modify the execution and return status of child behavioral nodes.
- Task Status Polling - Implements a mechanism to check the completion status of long-running asynchronous tasks during tree ticks.
- Functional Logic Modularization - Organizes behavioral logic into decoupled units via XML definitions to separate design from implementation.
- Port-Based Variable Mappings - Maps internal node inputs and outputs to blackboard entries to ensure tasks remain modular and reusable.
- Runtime Library Extensions - Allows the loading of custom task implementations at runtime via dynamic shared libraries.
- Hierarchical Nesting - Supports hierarchical nesting of sub-graphs to create reusable and modular behavioral components.
- Behavior Tree Visualizers - Ships a visual tool for monitoring real-time execution paths and state transitions within behavior trees.
- Game AI - Modern C++ library for behavior tree implementation.
- Behavior and Decision - C++ library for implementing behavior trees.
- 行为逻辑 - 用于实现行为树逻辑的 C++ 库。
- ROS Libraries and Tools - Library for implementing behavior trees in C++.
