condition_node.h
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018 Davide Faconti - All Rights Reserved
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12 */
13 
14 #ifndef CONDITIONNODE_H
15 #define CONDITIONNODE_H
16 
17 #include "leaf_node.h"
18 
19 namespace BT
20 {
21 class ConditionNode : public LeafNode
22 {
23  public:
24  ConditionNode(const std::string& name, const NodeParameters& parameters = NodeParameters());
25 
26  virtual ~ConditionNode() override = default;
27 
28  // The method used to interrupt the execution of the node
29  virtual void halt() override;
30 
31  virtual NodeType type() const override final
32  {
33  return NodeType::CONDITION;
34  }
35 };
36 
49 {
50  public:
51  typedef std::function<NodeStatus(TreeNode&)> TickFunctor;
52 
53  // Constructor: you must provide the function to call when tick() is invoked
54  SimpleConditionNode(const std::string& name, TickFunctor tick_functor,
55  const NodeParameters& params = NodeParameters());
56 
57  ~SimpleConditionNode() override = default;
58 
59  virtual void halt() override
60  {
61  // not supported
62  }
63 
64  protected:
65  virtual NodeStatus tick() override;
66 
67  TickFunctor tick_functor_;
68 };
69 }
70 
71 #endif
const std::string & name() const
Definition: tree_node.cpp:92
The SimpleConditionNode provides an easy to use ConditionNode. The user should simply provide a callb...
ConditionNode(const std::string &name, const NodeParameters &parameters=NodeParameters())
virtual NodeType type() const overridefinal
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
virtual void halt() override
The method used to interrupt the execution of a RUNNING node.
virtual ~ConditionNode() override=default
virtual void halt() override
The method used to interrupt the execution of a RUNNING node.
NodeStatus
Definition: basic_types.h:28
NodeType
Definition: basic_types.h:16
virtual BT::NodeStatus tick()=0
Method to be implemented by the user.
std::function< NodeStatus(TreeNode &)> TickFunctor


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sun Feb 3 2019 03:14:32