decorator_node.h

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#ifndef DECORATORNODE_H
#define DECORATORNODE_H

#include "behaviortree_cpp/tree_node.h"

namespace BT
{
class DecoratorNode : public TreeNode
{
  protected:
    TreeNode* child_node_;

  public:
    // Constructor
    DecoratorNode(const std::string& name, const NodeParameters& parameters);

    virtual ~DecoratorNode() override = default;

    // The method used to fill the child vector
    void setChild(TreeNode* child);

    const TreeNode* child() const;
    TreeNode* child();

    // The method used to interrupt the execution of the node
    virtual void halt() override;

    void haltChild();

    virtual NodeType type() const override
    {
        return NodeType::DECORATOR;
    }

    NodeStatus executeTick() override;
};

class SimpleDecoratorNode : public DecoratorNode
{
  public:
    typedef std::function<NodeStatus(NodeStatus, TreeNode&)> TickFunctor;

    // Constructor: you must provide the function to call when tick() is invoked
    SimpleDecoratorNode(const std::string& name, TickFunctor tick_functor,
                        const NodeParameters& params = NodeParameters());

    ~SimpleDecoratorNode() override = default;

  protected:
    virtual NodeStatus tick() override;

    TickFunctor tick_functor_;
};
}

#endif