Merge branch 'master' of github.com:BehaviorTree/btcpp_website

facontidavide · facontidavide · commit a2247d4670fe · 2022-10-31T12:03:04.000+01:00
diff --git a/docs/intro.md b/docs/intro.md
@@ -42,12 +42,12 @@ These blocks are implemented in C++ and are "composable": in other words, they c
 ![](intro_build_trees.svg)
 
 In the image above, you can see as we are arranging these actions in a simple Sequence;
-actions will be executed in order from left to right. To learn mode, visit the page 
+actions will be executed in order from left to right. To learn more, visit the page 
 [Introduction to BTs](learn-the-basics/BT_basics.md).
 
 ### Main Advantages of Behavior Trees
 
-- __They are intrinsically Hierarchical__: we can _compose_
+- __They are intrinsically hierarchical__: we can _compose_
 complex behaviors, including entire trees as sub-branches of a bigger tree. 
 For instance, the behavior "Fetch Beer" may reuse the tree
 "Grasp Object".
diff --git a/docs/learn-the-basics/BT_basics.md b/docs/learn-the-basics/BT_basics.md
@@ -20,7 +20,7 @@ more time to return a valid result.
 
 - If a TreeNode has one or more children, it is its
 responsibility to propagate the tick; each Node type may
-have different rules about children are ticked.
+have different rules about if, when and how many times children are ticked.
 
  - The __LeafNodes__, those TreeNodes which don't have any children,
    are the actual commands, i.e. the Nodes where the behavior tree
@@ -53,7 +53,7 @@ it returns SUCCESS too.
 3. As a result, the second child "Walk" and later "CloseDoor"
 are ticked.
 4. Once the last child is completed, the entire Sequence 
-switch from RUNNING to SUCCESS.
+switches from RUNNING to SUCCESS.
 
 ## Types of nodes
 
diff --git a/docs/learn-the-basics/main_concepts.md b/docs/learn-the-basics/main_concepts.md
@@ -22,7 +22,7 @@ By definition, your custom Nodes are (or should be) highly __reusable__.
 ## Instantiate trees at run-time using the XML format
 
 Despite the fact that the library is written in C++, trees themselves
-can be created and composed at _run-time_, more specifically, at _deployment-time_, using an XML base scriping language.
+can be created and composed at _run-time_, more specifically, at _deployment-time_, using an XML base scripting language.
 
 An XML format is described in details [here](xml_format.md), but the best way to
 learn the syntax is following the tutorials.
diff --git a/docs/tutorial-advanced/asynchronous_nodes.md b/docs/tutorial-advanced/asynchronous_nodes.md
@@ -4,7 +4,7 @@ sidebar_position: 3
 
 # Asynchronous Actions
 
-When designing reactive Behavior Trees, it is important to understand 2two main concepts:
+When designing reactive Behavior Trees, it is important to understand two main concepts:
 
 - what we mean by **"Asynchronous"** Actions VS **"Synchronous"** ones.
 - The difference between **Concurrency** and **Parallelism** in the context of BT.CPP.
diff --git a/docs/tutorial-advanced/pre_post_conditions.md b/docs/tutorial-advanced/pre_post_conditions.md
@@ -28,8 +28,8 @@ reconsider your decision to use them.
 | Name | Description |
 |-------------|---------|
 | **_skipIf**    |  Skip the execution of this Node, if the condition is true   |
-| **_failureIf** |  Skip and return FAILURE, if the condition os true |
-| **_successIf** |  Skip and return SUCCESS, if the condition os true |
+| **_failureIf** |  Skip and return FAILURE, if the condition is true |
+| **_successIf** |  Skip and return SUCCESS, if the condition is true |
 | **_while**     |  Same as _skipIf, but may also interrupt a RUNNING Node if the condition becomes false. |
 
 ### Example
diff --git a/docs/tutorial-basics/tutorial_08_additional_args.md b/docs/tutorial-basics/tutorial_08_additional_args.md
@@ -119,7 +119,6 @@ factory.registerNodeType<Action_B>( "Action_B" );
 // Create the whole tree. Instances of Action_B are not initialized yet
 auto tree = factory.createTreeFromText(xml_text);
 
-  if (auto action_B_node = dynamic_cast<Action_B*>(node))
 // visitor will initialize the instances of 
 auto visitor = [](TreeNode* node)
 {
diff --git a/versioned_docs/version-3.8/intro.md b/versioned_docs/version-3.8/intro.md
@@ -42,12 +42,12 @@ These blocks are implemented in C++ and are "composable": in other words, they c
 ![](intro_build_trees.svg)
 
 In the image above, you can see as we are arranging these actions in a simple Sequence;
-actions will be executed in order from left to right. To learn mode, visit the page 
+actions will be executed in order from left to right. To learn more, visit the page 
 [Introduction to BTs](learn-the-basics/BT_basics.md).
 
 ### Main Advantages of Behavior Trees
 
-- __They are intrinsically Hierarchical__: we can _compose_
+- __They are intrinsically hierarchical__: we can _compose_
 complex behaviors, including entire trees as sub-branches of a bigger tree. 
 For instance, the behavior "Fetch Beer" may reuse the tree
 "Grasp Object".
diff --git a/versioned_docs/version-3.8/learn-the-basics/BT_basics.md b/versioned_docs/version-3.8/learn-the-basics/BT_basics.md
@@ -20,7 +20,7 @@ more time to return a valid result.
 
 - If a TreeNode has one or more children, it is its
 responsibility to propagate the tick; each Node type may
-have different rules about children are ticked.
+have different rules about if, when and how many times children are ticked.
 
  - The __LeafNodes__, those TreeNodes which don't have any children,
    are the actual commands, i.e. the Nodes where the behavior tree
@@ -53,7 +53,7 @@ it returns SUCCESS too.
 3. As a result, the second child "Walk" and later "CloseDoor"
 are ticked.
 4. Once the last child is completed, the entire Sequence 
-switch from RUNNING to SUCCESS.
+switches from RUNNING to SUCCESS.
 
 ## Types of nodes
 
diff --git a/versioned_docs/version-3.8/learn-the-basics/main_concepts.md b/versioned_docs/version-3.8/learn-the-basics/main_concepts.md
@@ -22,7 +22,7 @@ By definition, your custom Nodes are (or should be) highly __reusable__.
 ## Instantiate trees at run-time using the XML format
 
 Despite the fact that the library is written in C++, trees themselves
-can be created and composed at _run-time_, more specifically, at _deployment-time_, using an XML base scriping language.
+can be created and composed at _run-time_, more specifically, at _deployment-time_, using an XML base scripting language.
 
 An XML format is described in details [here](xml_format.md), but the best way to
 learn the syntax is following the tutorials.
diff --git a/versioned_docs/version-3.8/tutorial-advanced/asynchronous_nodes.md b/versioned_docs/version-3.8/tutorial-advanced/asynchronous_nodes.md
@@ -4,7 +4,7 @@ sidebar_position: 3
 
 # Asynchronous Actions
 
-When designing reactive Behavior Trees, it is important to understand 2two main concepts:
+When designing reactive Behavior Trees, it is important to understand two main concepts:
 
 - what we mean by **"Asynchronous"** Actions VS **"Synchronous"** ones.
 - The difference between **Concurrency** and **Parallelism** in the context of BT.CPP.
diff --git a/versioned_docs/version-3.8/tutorial-basics/tutorial_08_additional_args.md b/versioned_docs/version-3.8/tutorial-basics/tutorial_08_additional_args.md
@@ -128,7 +128,6 @@ factory.registerNodeType<Action_B>( "Action_B" );
 // Create the whole tree. Instances of Action_B are not initialized yet
 auto tree = factory.createTreeFromText(xml_text);
 
-  if (auto action_B_node = dynamic_cast<Action_B*>(node))
 // visitor will initialize the instances of 
 auto visitor = [](TreeNode* node)
 {

Original file line number	Diff line number	Diff line change
`@@ -119,7 +119,6 @@ factory.registerNodeType<Action_B>( "Action_B" );`
`119`	`119`	`// Create the whole tree. Instances of Action_B are not initialized yet`
`120`	`120`	`auto tree = factory.createTreeFromText(xml_text);`
`121`	`121`
`122`		`- if (auto action_B_node = dynamic_cast<Action_B*>(node))`
`123`	`122`	`// visitor will initialize the instances of`
`124`	`123`	`auto visitor = [](TreeNode* node)`
`125`	`124`	`{`