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[composites] Reduce circulation when the parallel node policy is SuccessOnOne #440

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merged 3 commits into from
Sep 3, 2024
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[composites] Reduce circulation when the parallel node policy is SuccessOnOne #440

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dd43750
reduce circulation when the parallel node policy is SuccessOnOne
starrye Mar 19, 2024
79a1d20
Merge branch 'splintered-reality:devel' into devel
starrye Sep 3, 2024
777162b
[composites]Update Syntax
starrye Sep 3, 2024
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14 changes: 6 additions & 8 deletions py_trees/composites.py
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Original file line number Diff line number Diff line change
Expand Up @@ -731,14 +731,12 @@ def tick(self) -> typing.Iterator[behaviour.Behaviour]:
new_status = common.Status.SUCCESS
self.current_child = self.children[-1]
elif type(self.policy) is common.ParallelPolicy.SuccessOnOne:
successful = [
child
for child in self.children
if child.status == common.Status.SUCCESS
]
if successful:
new_status = common.Status.SUCCESS
self.current_child = successful[-1]
for index in range(len(self.children) - 1, -1, -1):
child = self.children[index]
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if child.status == common.Status.SUCCESS:
new_status = common.Status.SUCCESS
self.current_child = child
break
elif type(self.policy) is common.ParallelPolicy.SuccessOnSelected:
if all(
[c.status == common.Status.SUCCESS for c in self.policy.children]
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