tree.cpp
Go to the documentation of this file.
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 
00017 int main(int argc, char **argv)
00018 {
00019     ros::init(argc, argv, "BehaviorTree");
00020     try
00021     {
00022         int TickPeriod_milliseconds = 1000;
00023 
00024         BT::ActionTestNode* action1 = new BT::ActionTestNode("Action 1");
00025         BT::ConditionTestNode* condition1 = new BT::ConditionTestNode("Condition 1");
00026         BT:: SequenceNode* sequence1 = new BT::SequenceNode("seq1");
00027 
00028         BT::ActionTestNode* action2 = new BT::ActionTestNode("Action 2");
00029         BT::ConditionTestNode* condition2 = new BT::ConditionTestNode("Condition 2");
00030         BT:: SequenceNode* sequence2 = new BT::SequenceNode("seq1");
00031 
00032         BT::ActionTestNode* action3 = new BT::ActionTestNode("Action 3");
00033         BT::ConditionTestNode* condition3 = new BT::ConditionTestNode("Condition 3");
00034         BT:: SequenceNode* sequence3 = new BT::SequenceNode("seq1");
00035 
00036 
00037         sequence1->AddChild(sequence2);
00038         sequence1->AddChild(condition1);
00039         sequence1->AddChild(action1);
00040         sequence1->AddChild(sequence3);
00041 
00042         sequence2->AddChild(action2);
00043         sequence2->AddChild(condition2);
00044 
00045         sequence3->AddChild(condition3);
00046         sequence3->AddChild(action3);
00047 
00048         Execute(sequence1, TickPeriod_milliseconds);  // from BehaviorTree.cpp
00049     }
00050     catch (BT::BehaviorTreeException& Exception)
00051     {
00052         std::cout << Exception.what() << std::endl;
00053     }
00054 
00055     return 0;
00056 }
00057 
00058 


behavior_tree_core
Author(s): Michele Colledanchise
autogenerated on Sun Sep 10 2017 02:31:49