example.cpp
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00001 #include <iostream>
00002 #include <behavior_tree.h>
00003 
00004 class MyCondition : public BT::ConditionNode
00005 {
00006   public:
00007     MyCondition(const std::string& name);
00008     ~MyCondition();
00009     BT::ReturnStatus Tick();
00010 };
00011 
00012 MyCondition::MyCondition(const std::string& name) : BT::ConditionNode::ConditionNode(name)
00013 {
00014 }
00015 
00016 BT::ReturnStatus MyCondition::Tick()
00017 {
00018     std::cout << "The Condition is true" << std::endl;
00019 
00020     return NodeStatus::SUCCESS;
00021 }
00022 
00023 class MyAction : public BT::ActionNode
00024 {
00025   public:
00026     MyAction(const std::string& name);
00027     ~MyAction();
00028     BT::ReturnStatus Tick();
00029     void Halt();
00030 };
00031 
00032 MyAction::MyAction(const std::string& name) : ActionNode::ActionNode(name)
00033 {
00034 }
00035 
00036 BT::ReturnStatus MyAction::Tick()
00037 {
00038     std::cout << "The Action is doing some operations" << std::endl;
00039     std::this_thread::sleep_for(std::chrono::milliseconds(500));
00040     if (is_halted())
00041     {
00042         return NodeStatus::IDLE;
00043     }
00044 
00045     std::cout << "The Action is doing some others operations" << std::endl;
00046     std::this_thread::sleep_for(std::chrono::milliseconds(500));
00047     if (is_halted())
00048     {
00049         return NodeStatus::IDLE;
00050     }
00051 
00052     std::cout << "The Action is doing more operations" << std::endl;
00053     std::this_thread::sleep_for(std::chrono::milliseconds(500));
00054     if (is_halted())
00055     {
00056         return NodeStatus::IDLE;
00057     }
00058 
00059     std::cout << "The Action has succeeded" << std::endl;
00060     return NodeStatus::SUCCESS;
00061 }
00062 
00063 void MyAction::Halt()
00064 {
00065 }
00066 
00067 int main(int argc, char* argv[])
00068 {
00069     BT::SequenceNode* seq = new BT::SequenceNode("Sequence");
00070     MyCondition* my_con_1 = new MyCondition("Condition");
00071     MyAction* my_act_1 = new MyAction("Action");
00072     int tick_time_milliseconds = 1000;
00073 
00074     seq->AddChild(my_con_1);
00075     seq->AddChild(my_act_1);
00076 
00077     Execute(seq, tick_time_milliseconds);
00078 
00079     return 0;
00080 }


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sat Feb 2 2019 03:50:10