fallback_node.cpp
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018 Davide Faconti - All Rights Reserved
3 *
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12 */
13 
15 
16 namespace BT
17 {
18 FallbackNode::FallbackNode(const std::string& name)
20 {
21  setRegistrationName("Fallback");
22 }
23 
25 {
26  // gets the number of children. The number could change if, at runtime, one edits the tree.
27  const unsigned children_count = children_nodes_.size();
28 
29  // Routing the ticks according to the fallback node's logic:
30 
32 
33  for (unsigned index = 0; index < children_count; index++)
34  {
35  TreeNode* child_node = children_nodes_[index];
36  const NodeStatus child_status = child_node->executeTick();
37 
38  switch (child_status)
39  {
41  {
42  return child_status;
43  }
45  {
46  haltChildren(0);
47  return child_status;
48  }
50  {
51  // continue;
52  }
53  break;
54 
55  case NodeStatus::IDLE:
56  {
57  throw std::runtime_error("This is not supposed to happen");
58  }
59  } // end switch
60  } // end for loop
61 
62  haltChildren(0);
63  return NodeStatus::FAILURE;
64 }
65 }
std::vector< TreeNode * > children_nodes_
Definition: control_node.h:26
void setRegistrationName(const std::string &registration_name)
registrationName() is set by the BehaviorTreeFactory
Definition: tree_node.cpp:113
void haltChildren(int i)
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
FallbackNode(const std::string &name)
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
NodeStatus
Definition: basic_types.h:28
virtual BT::NodeStatus executeTick()
The method that will be executed to invoke tick(); and setStatus();.
Definition: tree_node.cpp:35
void setStatus(NodeStatus new_status)
Definition: tree_node.cpp:43


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