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test_xml_key_reordering_issue.xml
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86 lines (85 loc) · 3.28 KB
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<?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="ReceiveTargetPose" target_pose="{target_pose}"/>
<Action ID="LoadConstraints" constrain_a="{constraint_a}" constraint_b="{constraint_b}" constraint_c="{constraint_c}" file=""configuration.yaml""/>
<SubTree ID="RunPlannerSubtree" constraint_a="constraint_a" constraint_b="constraint_b" constraint_c="constraint_c" path="path" target_pose="target_pose"/>
<SubTree ID="ExecutePath" path="path"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="ExecutePath">
<Fallback>
<Sequence>
<Condition ID="OnAir"/>
<Action ID="Fly" path="{path}"/>
</Sequence>
<Sequence>
<Condition ID="OnGround"/>
<Action ID="Roll" path="{path}"/>
</Sequence>
<Sequence>
<Condition ID="OnWater"/>
<Action ID="Swim" path="{path}"/>
</Sequence>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="RunPlannerSubtree">
<Fallback>
<Action ID="RunPlannerA" constraint_a="{constraint_a}" constraint_b="{constraint_b}" contratint_c="{constraint_c}" path="{path}" target_pose="{target_pose}"/>
<Action ID="RunPlannerB" constraint_a="{constraint_a}" constraint_b="{constraint_b}" constraint_c="{constraint_c}" path="{path}" target_pose="{target_pose}"/>
</Fallback>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<SubTree ID="ExecutePath">
<input_port name="path"/>
</SubTree>
<Action ID="Fly">
<input_port name="path"/>
</Action>
<Action ID="LoadConstraints">
<output_port name="constrain_a"/>
<output_port name="constraint_b"/>
<output_port name="constraint_c"/>
<input_port name="file"/>
</Action>
<Condition ID="OnAir"/>
<Condition ID="OnGround"/>
<Condition ID="OnWater"/>
<Action ID="ReceiveTargetPose">
<output_port name="target_pose"/>
</Action>
<Action ID="Roll">
<input_port name="path"/>
</Action>
<Action ID="RunPlannerA">
<input_port name="constraint_a"/>
<input_port name="constraint_b"/>
<input_port name="contratint_c"/>
<output_port name="path"/>
<input_port name="target_pose"/>
</Action>
<Action ID="RunPlannerB">
<input_port name="constraint_a"/>
<input_port name="constraint_b"/>
<input_port name="constraint_c"/>
<output_port name="path"/>
<input_port name="target_pose"/>
</Action>
<SubTree ID="RunPlannerSubtree">
<input_port name="constraint_a"/>
<input_port name="constraint_b"/>
<input_port name="constraint_c"/>
<output_port name="path"/>
<input_port name="target_pose"/>
</SubTree>
<Action ID="Swim">
<input_port name="path"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>