Welcome to the REFINE-PLAN documentation!

Welcome to the documentation for REFINE-PLAN, an automatic refinement tool for behaviour trees (BTs). The final release will convert an input BT into a refined BT which can be executed with BehaviorTree.cpp. The current release converts a set of options into a refined BT which requires some adjustments to execute with BehaviorTree.cpp.

Installation instructions can be found here.

Contents

• Tutorials
  • How to synthesise a refined BT from a set of options
• API Reference
  • refine_plan
    • Subpackages
      • refine_plan.algorithms
        • Submodules
          • refine_plan.algorithms.gfactor
            • Module Contents
              • Functions
              • Attributes
                • MAX_TRIES
                • most_common_condition()
                • gfactor()
                • get_random_divisor()
                • quick_divisor()
          • refine_plan.algorithms.policy_to_bt
            • Module Contents
              • Classes
                • PolicyBTConverter
                  • PolicyBTConverter._vars_to_conds
                  • PolicyBTConverter._vars_to_symbols
                  • PolicyBTConverter._default_action
                  • PolicyBTConverter._default_needed
                  • PolicyBTConverter.convert_policy()
          • refine_plan.algorithms.refine
            • Module Contents
              • Functions
                • synthesise_bt_from_options()
          • refine_plan.algorithms.semi_mdp_solver
            • Module Contents
              • Functions
                • synthesise_policy()
      • refine_plan.models
        • Submodules
          • refine_plan.models.behaviour_tree
            • Module Contents
              • Classes
                • BTNode
                  • BTNode.to_BT_XML()
                • ActionNode
                  • ActionNode._name
                  • ActionNode.get_name()
                  • ActionNode.to_BT_XML()
                  • ActionNode.tick_at_state()
                • ConditionNode
                  • ConditionNode._name
                  • ConditionNode._cond
                  • ConditionNode.get_name()
                  • ConditionNode.get_cond()
                  • ConditionNode.to_BT_XML()
                  • ConditionNode.tick_at_state()
                • CompositeNode
                  • CompositeNode._children
                  • CompositeNode.add_child()
                  • CompositeNode.to_BT_XML()
                • SequenceNode
                  • SequenceNode.to_BT_XML()
                  • SequenceNode.tick_at_state()
                • FallbackNode
                  • FallbackNode.to_BT_XML()
                  • FallbackNode.tick_at_state()
                • BehaviourTree
                  • BehaviourTree._root_node
                  • BehaviourTree.get_root_node()
                  • BehaviourTree.to_BT_XML()
                  • BehaviourTree.tick_at_state()
          • refine_plan.models.condition
            • Module Contents
              • Classes
                • Label
                  • Label._name
                  • Label._cond
                  • Label._hash_val
                  • Label.to_prism_string()
                • Condition
                  • Condition.is_satisfied()
                  • Condition.is_pre_cond()
                  • Condition.is_post_cond()
                  • Condition.to_prism_string()
                  • Condition.to_pyeda_expr()
                  • Condition.range_of_values()
                • TrueCondition
                  • TrueCondition.is_satisfied()
                  • TrueCondition.is_pre_cond()
                  • TrueCondition.is_post_cond()
                  • TrueCondition.to_prism_string()
                  • TrueCondition.to_pyeda_expr()
                  • TrueCondition.range_of_values()
                • EqCondition
                  • EqCondition._sf
                  • EqCondition._value
                  • EqCondition._hash_val
                  • EqCondition.is_satisfied()
                  • EqCondition.is_pre_cond()
                  • EqCondition.is_post_cond()
                  • EqCondition.to_prism_string()
                  • EqCondition.to_pyeda_expr()
                  • EqCondition.range_of_values()
                • NeqCondition
                  • NeqCondition._sf
                  • NeqCondition._value
                  • NeqCondition._hash_val
                  • NeqCondition.is_satisfied()
                  • NeqCondition.is_pre_cond()
                  • NeqCondition.is_post_cond()
                  • NeqCondition.to_prism_string()
                  • NeqCondition.to_pyeda_expr()
                  • NeqCondition.range_of_values()
                • NotCondition
                  • NotCondition._cond
                  • NotCondition._hash_val
                  • NotCondition.is_satisfied()
                  • NotCondition.is_pre_cond()
                  • NotCondition.is_post_cond()
                  • NotCondition.to_prism_string()
                  • NotCondition.to_pyeda_expr()
                  • NotCondition.range_of_values()
                • AddCondition
                  • AddCondition._sf
                  • AddCondition._inc_value
                  • AddCondition._hash_val
                  • AddCondition.is_satisfied()
                  • AddCondition.is_pre_cond()
                  • AddCondition.is_post_cond()
                  • AddCondition.to_prism_string()
                  • AddCondition.to_pyeda_expr()
                  • AddCondition.range_of_values()
                • InequalityCondition
                  • InequalityCondition._sf
                  • InequalityCondition._comp_fn
                  • InequalityCondition._comp_str
                  • InequalityCondition._value
                  • InequalityCondition._hash_val
                  • InequalityCondition.is_satisfied()
                  • InequalityCondition.is_pre_cond()
                  • InequalityCondition.is_post_cond()
                  • InequalityCondition.to_prism_string()
                  • InequalityCondition.range_of_values()
                • LtCondition
                  • LtCondition.to_pyeda_expr()
                • GtCondition
                  • GtCondition.to_pyeda_expr()
                • LeqCondition
                  • LeqCondition.to_pyeda_expr()
                • GeqCondition
                  • GeqCondition.to_pyeda_expr()
                • AndCondition
                  • AndCondition._cond_list
                  • AndCondition._hash_val
                  • AndCondition.add_cond()
                  • AndCondition.is_satisfied()
                  • AndCondition.is_pre_cond()
                  • AndCondition.is_post_cond()
                  • AndCondition.to_prism_string()
                  • AndCondition.to_pyeda_expr()
                  • AndCondition.range_of_values()
                • OrCondition
                  • OrCondition._cond_list
                  • OrCondition._hash_val
                  • OrCondition.add_cond()
                  • OrCondition.is_satisfied()
                  • OrCondition.is_pre_cond()
                  • OrCondition.is_post_cond()
                  • OrCondition.to_prism_string()
                  • OrCondition.to_pyeda_expr()
                  • OrCondition.range_of_values()
          • refine_plan.models.option
            • Module Contents
              • Classes
                • Option
                  • Option._name
                  • Option._transition_list
                  • Option._reward_list
                  • Option.get_name()
                  • Option.get_transition_prob()
                  • Option.get_reward()
                  • Option.get_transition_prism_string()
                  • Option.get_reward_prism_string()
          • refine_plan.models.policy
            • Module Contents
              • Classes
                • Policy
                  • Policy._state_action_dict
                  • Policy._value_dict
                  • Policy.get_action()
                  • Policy.get_value()
          • refine_plan.models.semi_mdp
            • Module Contents
              • Classes
                • SemiMDP
                  • SemiMDP._state_factors
                  • SemiMDP._options
                  • SemiMDP._labels
                  • SemiMDP._initial_state
                  • SemiMDP.get_state_factors()
                  • SemiMDP.get_det_initial_state()
                  • SemiMDP.get_labels()
                  • SemiMDP.get_transition_prob()
                  • SemiMDP.get_reward()
                  • SemiMDP.to_prism_string()
          • refine_plan.models.state
            • Module Contents
              • Classes
                • State
                  • State._state_dict
                  • State._sf_dict
                  • State._hash_val
                  • State.to_and_cond()
          • refine_plan.models.state_factor
            • Module Contents
              • Classes
                • StateFactor
                  • StateFactor._name
                  • StateFactor._values
                  • StateFactor._hash_val
                  • StateFactor.get_value()
                  • StateFactor.get_idx()
                  • StateFactor.is_valid_value()
                  • StateFactor.get_valid_values()
                  • StateFactor.get_name()
                  • StateFactor.to_prism_string()
                • BoolStateFactor
                • IntStateFactor
                  • IntStateFactor.get_value()
                  • IntStateFactor.get_idx()