96 lines
2.7 KiB
Python
96 lines
2.7 KiB
Python
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#叶结点
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class Leaf:
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def __init__(self,type,content,mincost):
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self.type=type
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self.content=content #conditionset or action
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self.parent=None
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self.parent_index=0
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self.mincost=mincost
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# tick 叶节点，返回返回值以及对应的条件或行动对象self.content
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def tick(self,state):
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if self.type=='cond':
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if self.content <= state:
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return 'success',self.content
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else:
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return 'failure',self.content
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if self.type=='act':
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if self.content.pre<=state:
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return 'running',self.content #action
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else:
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return 'failure',self.content
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def __str__(self):
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print( self.content)
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return ''
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def print_nodes(self):
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print(self.content)
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def count_size(self):
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return 1
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#可能包含控制结点的行为树
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class ControlBT:
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def __init__(self,type):
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self.type=type
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self.children=[]
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self.parent=None
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self.parent_index=0
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def add_child(self,subtree_list):
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for subtree in subtree_list:
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self.children.append(subtree)
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subtree.parent=self
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subtree.parent_index=len(self.children)-1
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# tick行为树，根据不同控制结点逻辑tick子结点
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def tick(self,state):
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if len(self.children) < 1:
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print("error,no child")
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if self.type =='?':#选择结点，即或结点
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for child in self.children:
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val,obj=child.tick(state)
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if val=='success':
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return val,obj
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if val=='running':
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return val,obj
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return 'failure','?fails'
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if self.type =='>':#顺序结点，即与结点
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for child in self.children:
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val,obj=child.tick(state)
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if val=='failure':
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return val,obj
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if val=='running':
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return val,obj
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return 'success', '>success'
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if self.type =='act':#行动结点
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return self.children[0].tick(state)
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if self.type =='cond':#条件结点
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return self.children[0].tick(state)
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def getFirstChild(self):
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return self.children[0]
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def __str__(self):
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print(self.type+'\n')
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for child in self.children:
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print (child)
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return ''
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def print_nodes(self):
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print(self.type)
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for child in self.children:
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child.print_nodes()
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# 递归统计树中结点数
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def count_size(self):
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result=1
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for child in self.children:
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result+= child.count_size()
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return result
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