Behavior Editor Overview

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Behavior Tree

The Behavior Editor is used to create, view, and edit all nodes in the task. The nodes and their relationship to each other is called the behavior tree. A task is structured to activate nodes branching from left to right between parent and child nodes, and top to bottom between sibling nodes. Double clicking on a node will open the node inspector where the properties of the node can be edited.

Family.PNG

In the above example, Child 3 has 2 children Child A and Child B, and is a child of Parent. Child 1 comes before Child 2. And Child 3 comes after Child 2.

Node Colors

  • Orange - Selected: The node is selected and its properties display in the Node Editor if it is open.
  • Blue - Incomplete: required information has not been entered for this node. The task will not run when one or more nodes are blue.
  • Black - Inactive: an inactive node is not running, but can become active if its parent gives it the opportunity to start running.
  • Grey - Disabled: a disabled node and its children (if it has any) are ignored by its parent, and thus never run.
  • Green - Running: the node is currently being executed in run, it is active until it either succeeds, fails or encounters an error.

Black green nodes.png

Blue orange gray nodes.png

Adding Nodes to the Tree

Nodes can be added to the tree from either the node palette or by right clicking in the tree. When using the node palette, first select the node after which you wish to add the new node, then click the node type from the palette you wish to insert. If the node selected is a composite (which means it is able to have child nodes), the new node will be added as a child of the selected node, at the bottom of the branch. If it is a primitive (which means it is not able to have child nodes), the new node will be added as a sibling of the selected node, at the bottom of the branch. Right clicking on a node allows the addition of the new node as a parent or as a sibling directly above or below the selected node.

Child parent nodes.png