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 #ifndef FALLBACK_NODE_WITH_MEMORY_H 00014 #define FALLBACK_NODE_WITH_MEMORY_H 00015 00016 #include <control_node.h> 00017 #include <string> 00018 00019 namespace BT 00020 { 00021 class FallbackNodeWithMemory : public ControlNode 00022 { 00023 public: 00024 // Constructor 00025 explicit FallbackNodeWithMemory(std::string name); 00026 FallbackNodeWithMemory(std::string name, int reset_policy); 00027 ~FallbackNodeWithMemory(); 00028 int DrawType(); 00029 BT::ReturnStatus Tick(); 00030 void Halt(); 00031 private: 00032 unsigned int current_child_idx_; 00033 unsigned int reset_policy_; 00034 }; 00035 } // namespace BT 00036 00037 00038 #endif // FALLBACK_NODE_WITH_MEMORY_H