Standard BT Nodes - aantakli/AJAN-service GitHub Wiki

Branch Nodes

SPARQL-BT Sequence (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Sequence.java

States: SUCCEEDED || RUNNING || FAILED depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#sequence

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Sequence Node (bt:Sequence)
Class (rdfs:subClassOf) Composite Node (bt:Composite)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Children (bt:hasChildren) List of SBT-Nodes (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:SequenceX # Instance URI
	a bt:Sequence ;
	rdfs:label "some sequence"^^xsd:string ;
	bt:hasChildren (
		:ReachObject # some SBT node
		:CarryObject # some SBT node
		)
	].

SPARQL-BT Priority (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Priority.java

States: SUCCEEDED || RUNNING || FAILED depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#selector

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Priority Node (bt:Priority)
Class (rdfs:subClassOf) Composite Node (bt:Composite)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Children (bt:hasChildren) List of SBT-Nodes (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:PriorityX # Instance URI
	a bt:Priority ;
	rdfs:label "some priority"^^xsd:string ;
	bt:hasChildren (
		:AtTightenTarget # some SBT node
		:WalkToTightenObject # some SBT node
		)
	] .

SPARQL-BT Parallel (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Parallel.java

States: SUCCEEDED || RUNNING || FAILED depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#parallel (Sequence Policy)

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Parallel Node (bt:Parallel)
Class (rdfs:subClassOf) Composite Node (bt:Composite)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Join Status (bt:join) <boolean> ("true"^^xsd:boolean)
Children (bt:hasChildren) List of SBT-Nodes (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:PriorityX # Instance URI
	a bt:Parallel;
	rdfs:label "some parallel"^^xsd:string ;
	bt:join "true"^^xsd:boolean;
	bt:hasChildren (
		# all executable child nodes
		_:SomeNode1
		_:SomeNode2
		_:SomeNode3
		)
	] .

SPARQL-BT PrioParallel (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/PrioParallel.java

States: SUCCEEDED || RUNNING || FAILED depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#parallel (Selector Policy)

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Parallel Node (bt:Parallel)
Class (rdfs:subClassOf) Composite Node (bt:Composite)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Join Status (bt:join) <boolean> ("true"^^xsd:boolean)
Children (bt:hasChildren) List of SBT-Nodes (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:PrioParallelX # Instance URI
	a bt:PrioParallel;
	rdfs:label "some parallel"^^xsd:string ;
	bt:join "true"^^xsd:boolean;
	bt:hasChildren (
		# all executable child nodes
		_:SomeNode1
		_:SomeNode2
		_:SomeNode3
		)
	] .

SPARQL-BT Until Fail (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/UntilFail.java

States: RUNNING || FAILED depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#decorator

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Repeate until Failure Node (bt:UntilFail)
Class (rdfs:subClassOf) Decorator Node (bt:Decorator)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Child (bt:hasChild) SBT-Node to execute (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:UntilFailX # Instance URI
	a bt:UntilFail ;
	rdfs:label "some until fail"^^xsd:string ;
	bt:hasChild :AtTightenTarget # some SBT node .

SPARQL-BT Until Success (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/UntilSuccess.java

States: SUCCEEDED || RUNNING depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#decorator

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Repeate until success node (bt:UntilSuccess)
Class (rdfs:subClassOf) Decorator Node (bt:Decorator)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Child (bt:hasChild) SBT-Node to execute (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:UntilSuccessX # Instance URI
	a bt:UntilSuccess ;
	rdfs:label "some until success"^^xsd:string ;
	bt:hasChild :AtTightenTarget # some SBT node .

SPARQL-BT Invert (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Inverter.java

States: SUCCEEDED || RUNNING || FAILED depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#decorator

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Invert child result node (bt:Invert)
Class (rdfs:subClassOf) Decorator Node (bt:Decorator)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Child (bt:hasChild) SBT-Node to execute (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:InvertX # Instance URI
	a bt:Invert ;
	rdfs:label "some Invert"^^xsd:string ;
	bt:hasChild :AtTightenTarget # some SBT node .

SPARQL-BT Random (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Randomer.java

States: SUCCEEDED || RUNNING || FAILED will be randomly chosen.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#decorator

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Random child result node (bt:Random)
Class (rdfs:subClassOf) Decorator Node (bt:Decorator)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Child (bt:hasChild) SBT-Node to execute (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:RandomX # Instance URI
	a bt:Random ;
	rdfs:label "some Random"^^xsd:string ;
	bt:hasChild :AtTightenTarget # some SBT node .

SPARQL-BT IsFailing (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/IsFailing.java

States: RUNNING || FAILED depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#decorator

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Child will always fail node (bt:IsFailing)
Class (rdfs:subClassOf) Decorator Node (bt:Decorator)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Child (bt:hasChild) SBT-Node to execute (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:FailX # Instance URI
	a bt:IsFailing ;
	rdfs:label "some Fail"^^xsd:string ;
	bt:hasChild :AtTightenTarget # some SBT node .

SPARQL-BT IsSucceeding (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/IsSucceeding.java

States: SUCCEEDED || RUNNING depending on child state.

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#decorator

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Child will always succeed node (bt:IsSucceeding)
Class (rdfs:subClassOf) Decorator Node (bt:Decorator)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Child (bt:hasChild) SBT-Node to execute (bt:Task)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:SuccessX # Instance URI
	a bt:IsSucceeding ;
	rdfs:label "some Success"^^xsd:string ;
	bt:hasChild :AtTightenTarget # some SBT node .

Leaf Nodes

SPARQL-BT Success (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Success.java

States: SUCCEEDED

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#leaf-tasks

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Child will always succeed node (bt:Succeess)
Class (rdfs:subClassOf) Leaf Node (bt:Leaf)
Label (rdfs:label) <string> ("some label"^^xsd:string)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:SuccessX # Instance URI
	a bt:Succeess ;
	rdfs:label "some Success"^^xsd:string .

SPARQL-BT Fail (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Fail.java

States: FAILED

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#leaf-tasks

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Will always fail node (bt:Fail)
Class (rdfs:subClassOf) Leaf Node (bt:Leaf)
Label (rdfs:label) <string> ("some label"^^xsd:string)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:FailX # Instance URI
	a bt:Fail ;
	rdfs:label "some Fail"^^xsd:string .

SPARQL-BT Wait (StandardBTNodes Plugin)

Implementation: https://github.com/aantakli/AJAN-service/blob/master/pluginsystem/plugins/StandardBTNodes/src/main/java/de/dfki/asr/ajan/pluginsystem/standardbtnodes/extensions/Wait.java

States: SUCCEEDED || RUNNING

Description: Please visit for an node description: https://github.com/libgdx/gdx-ai/wiki/Behavior-Trees#leaf-tasks

Properties

Property (RDF) Value (RDF)
Namespace (@prefix bt:) URL (http://www.ajan.de/behavior/bt-ns#)
Type (rdf:type) Will wait node (bt:Wait)
Class (rdfs:subClassOf) Leaf Node (bt:Leaf)
Label (rdfs:label) <string> ("some label"^^xsd:string)
Time (bt:milliseconds) <integer> ("123"^^xsd:int)

Example in Turtle/RDF (comments strat with: #)

@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix bt: <http://www.ajan.de/behavior/bt-ns#> .

_:WaitX # Instance URI
	a bt:Wait ;
	rdfs:label "some Wait"^^xsd:string ;
	bt:milliseconds "12345"^^xsd:int .
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