00001 /* Copyright (C) 2015-2017 Michele Colledanchise - All Rights Reserved 00002 * 00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00004 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00005 * and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: 00006 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00007 * 00008 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00009 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 00010 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00011 */ 00012 00013 00014 #include <behavior_tree.h> 00015 00016 int main(int argc, char **argv) 00017 { 00018 ros::init(argc, argv, "BehaviorTree"); 00019 try 00020 { 00021 int TickPeriod_milliseconds = 1000; 00022 00023 00024 BT::ROSAction* action = new BT::ROSAction("action"); 00025 BT::ROSCondition* condition = new BT::ROSCondition("condition"); 00026 00027 00028 BT:: SequenceNode* sequence1 = new BT::SequenceNode("seq1"); 00029 00030 sequence1->AddChild(condition); 00031 sequence1->AddChild(action); 00032 00033 Execute(sequence1, TickPeriod_milliseconds); // from BehaviorTree.cpp 00034 } 00035 catch (BT::BehaviorTreeException& Exception) 00036 { 00037 std::cout << Exception.what() << std::endl; 00038 } 00039 00040 return 0; 00041 }