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In some cases, it is desirable to reset BTRunLimit on certain events, like re-entering the BTState.
Proposed solution
A possible solution is to keep a run count on the Blackboard. This way, it can be changed from different places without requiring a reference to BTRunLimit. BTCooldown uses a similar approach.
Another solution could be adding a policy option to reset the run limit upon behavior tree entered. This would require adding _tree_started or _tree_entered callback to behavior tree tasks that would run for each task just like _setup does (performance concerns for larger trees). Defining "behavior tree entered/started" needs some consideration, as it is ambiguous.
Alternatives
Run count is currently remembered for the lifetime of the BT. The alternative is to write a custom task.
The text was updated successfully, but these errors were encountered:
Problem statement
In some cases, it is desirable to reset
BTRunLimit
on certain events, like re-entering the BTState.Proposed solution
A possible solution is to keep a run count on the
Blackboard
. This way, it can be changed from different places without requiring a reference toBTRunLimit
.BTCooldown
uses a similar approach.Another solution could be adding a policy option to reset the run limit upon behavior tree entered. This would require adding
_tree_started
or_tree_entered
callback to behavior tree tasks that would run for each task just like_setup
does (performance concerns for larger trees). Defining "behavior tree entered/started" needs some consideration, as it is ambiguous.Alternatives
Run count is currently remembered for the lifetime of the BT. The alternative is to write a custom task.
The text was updated successfully, but these errors were encountered: