as2fm.scxml_converter.bt_converter.bt_converter

as2fm.scxml_converter.bt_converter.bt_converter(bt_xml_path: str, bt_plugins_scxml_paths: List[str], bt_tick_rate: float, tick_if_not_running: bool) → List[ScxmlRoot]

Generate all Scxml files resulting from a Behavior Tree (BT) in XML format.

Parameters:

• bt_xml_path – Path to the xml file implementing the Behavior Tree.

• bt_plugins_scxml_paths – Paths to the scxml files implementing the BT nodes (plugins).

• bt_tick_rate – The rate at which the root of the input BT is ticked.

• tick_if_not_running – If true, keep ticking the BT root after it stops returning RUNNING.