​HFSM2 is a feature-rich header-only hierarchical FSM framework written in C++ using template meta-programming, distributed under permissive MIT license.
Originally conceived as a traditional hierarchical state machine framework, over the years it evolved into a powerful decision making system, incorporating a variety of features usually found in dedicated AI formalisms.
​HFSM2 is an evolution of HFSM, and being actively developed with the new features to empower the developers in embedded, robotics, game development, and other high-performance domains.
​doc.hfsm.dev is the new home for HFSM2.
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