refine_plan.algorithms.simple_policy_to_bt
==========================================

.. py:module:: refine_plan.algorithms.simple_policy_to_bt

.. autoapi-nested-parse::

   An alternative policy to BT converter that is simpler but builds larger BTs.

   Author: Charlie Street
   Owner: Charlie Street



Classes
-------

.. autoapisummary::

   refine_plan.algorithms.simple_policy_to_bt.SimplePolicyBTConverter


Module Contents
---------------

.. py:class:: SimplePolicyBTConverter

   Bases: :py:obj:`refine_plan.algorithms.policy_to_bt.PolicyBTConverter`


   This class contains a simple policy->BT converter that does no reduction.

   We effectively just resolve each state factor depth first.


   .. py:method:: convert_policy(policy, out_file=None)

      Convert a Policy into a BehaviourTree and write the BT to file.

      :param policy: A deterministic, memoryless policy
      :param out_file: Optional. The output files for the BT

      :returns: The converted BT