Behaviour

class mobrob_behcon.behaviours.behaviour.Behaviour(name)

The abstract class Behaviour

Attributes

name	Name of behaviour
resolver	resolver
percept_space	percept_space
priority	priority of behaviour
current_beh_group	current active behaviour group

Methods

__init__(name)	Constructor
add_desire(desire)	Send desire to resolver.
error([code])	Raise an error about the behaviour.
fire()	Abstract method which will be called in the cyclic polling loop from resolver.
set_current_beh_group(beh_group)	Set current active behaviourgroup
set_percept_space(percept_space)	Set the reference to percept_space
set_priority(priority)	Set current priority of the behaviour, can be changed during runtime
set_resolver(resolver)	Set the reference to resolver
success([code])	Set the behaviour as successful ended.

Details

__init__(name)

Constructor

Parameters

name (string) – name or behaviour

add_desire(desire)

Send desire to resolver.

Parameters

desire (Desire) – a desire to be added to the resolver

error(code=0)

Raise an error about the behaviour. With the error code some more information about the error can be given to the behaviourgroup

Parameters

code (int, optional) – error code, defaults to 0

abstract fire()

Abstract method which will be called in the cyclic polling loop from resolver.

Needs to be defined by inherited classes.

In this method you can call the function add_desire() to send a desire to the resolver. Depending on strength and priority this will be forwarded to actuators

set_current_beh_group(beh_group)

Set current active behaviourgroup

Parameters

beh_group (BehaviourGroup) – the currently active behaviour group

set_percept_space(percept_space)

Set the reference to percept_space

Parameters

percept_space (PerceptualSpace) – relevant percept_space object

set_priority(priority)

Set current priority of the behaviour, can be changed during runtime

Parameters

priority ([type]) – [description]

set_resolver(resolver)

Set the reference to resolver

Parameters

resolver (Resolver) – relevant resolver object

success(code=0)

Set the behaviour as successful ended. With the success code some more information about the success can be given to the behaviourgroup

Parameters

code (int, optional) – success code, defaults to 0