force_success_node.h
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1 /* Copyright (C) 2018 Davide Faconti - All Rights Reserved
2 *
3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
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11 */
12 
13 #ifndef DECORATOR_ALWAYS_SUCCESS_NODE_H
14 #define DECORATOR_ALWAYS_SUCCESS_NODE_H
15 
17 
18 namespace BT
19 {
21 {
22  public:
23  ForceSuccessDecorator(const std::string& name) : DecoratorNode(name, NodeParameters())
24  {
25  setRegistrationName("ForceSuccess");
26  }
27 
28  private:
29  virtual BT::NodeStatus tick() override;
30 };
31 
32 //------------ implementation ----------------------------
33 
35 {
37 
38  const NodeStatus child_state = child_node_->executeTick();
39 
40  switch (child_state)
41  {
44  {
45  return NodeStatus::SUCCESS;
46  }
47 
49  {
50  return NodeStatus::RUNNING;
51  }
52 
53  default:
54  {
55  // TODO throw?
56  }
57  }
58  return status();
59 }
60 }
61 
62 #endif
const std::string & name() const
Definition: tree_node.cpp:92
void setRegistrationName(const std::string &registration_name)
registrationName() is set by the BehaviorTreeFactory
Definition: tree_node.cpp:113
TreeNode * child_node_
ForceSuccessDecorator(const std::string &name)
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
NodeStatus status() const
Definition: tree_node.cpp:75
NodeStatus
Definition: basic_types.h:28
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
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