From c91548ef177880df4d595fc5a072df07762d2836 Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Thu, 8 Jul 2021 14:39:50 +0000
Subject: [PATCH] [WORK IN PROGRESS] Updated documentation
---
README.md | 18 +++++++++++++-----
include/iri_async_action.h | 2 +-
include/iri_bt_factory.h | 2 +-
src/iri_async_action.cpp | 2 +-
4 files changed, 16 insertions(+), 8 deletions(-)
diff --git a/README.md b/README.md
index 87144a2..8cc3999 100644
--- a/README.md
+++ b/README.md
@@ -3,13 +3,21 @@ IRI BehaviorTree
## Description
-It's a library to adapt the [behaviortree](https://github.com/BehaviorTree/BehaviorTree.CPP) library to the use
-of [IRI modules](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_ros_tools).
+This library is intendend to expand the [behaviortree](https://github.com/BehaviorTree/BehaviorTree.CPP) library to provide the following new features:
+* It provides a way to implement an Asynchronous Action throught a callback function instead of having to create an inherited class.
-It provides the possibility of creating asynchronous actions without the need of creating a class. Its *tick*
-function is called from the main thread. There isn't implemented any *halt* function.
+ This is acomplished with the definition of the new class **IriAsyncActionNode**. This class is exactly the same that **SimpleActionNode** provided by the original library but with the possibility of returning the *RUNNING* state. Another difference with the original Asynchronous action is that no *halt* function can be implemented.
+
+* It provides a way to register this new Asynchronous actions.
+
+ This is acomplished with the definition of the new class **IriBehaviorTreeFactory**. This class jus implements the *registerIriAsyncAction* function to register any *IriAsyncActionNode* in the same way a *SimpleActionNode* would be registered using *registerSimpleAction*.
+
+* It also provides a set of basic BehaviorTree nodes (BT nodes) and the function to register them.
+
+ This is acomplished with the definition of a new class **IriBehaviorTreeBasicNodes** that implements this basic BT nodes and provides a function called *init* to register these BT nodes.
+
+These new features allow us to adapt the use of BehaviorTrees to the IRI framework and to add a BehaviorTree wrapper for the [IRI modules](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_ros_tools#iri-ros-modules).
-Additionally, it provides some basic common BT nodes.
## ROS dependencies
diff --git a/include/iri_async_action.h b/include/iri_async_action.h
index f573038..95609b7 100644
--- a/include/iri_async_action.h
+++ b/include/iri_async_action.h
@@ -37,4 +37,4 @@ class IriAsyncActionNode : public BT::ActionNodeBase
TickFunctor tick_functor_;
};
-#endif
\ No newline at end of file
+#endif
diff --git a/include/iri_bt_factory.h b/include/iri_bt_factory.h
index e2be447..e271826 100644
--- a/include/iri_bt_factory.h
+++ b/include/iri_bt_factory.h
@@ -25,4 +25,4 @@ class IriBehaviorTreeFactory : public BT::BehaviorTreeFactory
BT::PortsList ports = {});
};
-#endif
\ No newline at end of file
+#endif
diff --git a/src/iri_async_action.cpp b/src/iri_async_action.cpp
index 3084895..2a2eb86 100644
--- a/src/iri_async_action.cpp
+++ b/src/iri_async_action.cpp
@@ -28,4 +28,4 @@ BT::NodeStatus IriAsyncActionNode::tick()
setStatus(status);
}
return status;
-}
\ No newline at end of file
+}
--
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