retry_node.h
Go to the documentation of this file.
1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018 Davide Faconti - All Rights Reserved
3 *
4 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
5 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
6 * 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:
7 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
8 *
9 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
10 * 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,
11 * 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.
12 */
13 
14 #ifndef DECORATORRETRYNODE_H
15 #define DECORATORRETRYNODE_H
16 
18 
19 namespace BT
20 {
21 class RetryNode : public DecoratorNode
22 {
23  public:
24  // Constructor
25  RetryNode(const std::string& name, unsigned int NTries);
26 
27  RetryNode(const std::string& name, const NodeParameters& params);
28 
29  virtual ~RetryNode() override = default;
30 
32  {
33  static NodeParameters params = {{NUM_ATTEMPTS, "1"}};
34  return params;
35  }
36 
37  virtual void halt() override;
38 
39  private:
40  unsigned int max_attempts_;
41  unsigned int try_index_;
42 
44  static constexpr const char* NUM_ATTEMPTS = "num_attempts";
45 
46  virtual BT::NodeStatus tick() override;
47 };
48 }
49 
50 #endif
unsigned int try_index_
Definition: retry_node.h:41
const std::string & name() const
Definition: tree_node.cpp:92
RetryNode(const std::string &name, unsigned int NTries)
Definition: retry_node.cpp:20
bool read_parameter_from_blackboard_
Definition: retry_node.h:43
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
static constexpr const char * NUM_ATTEMPTS
Definition: retry_node.h:44
unsigned int max_attempts_
Definition: retry_node.h:40
virtual void halt() override
The method used to interrupt the execution of a RUNNING node.
Definition: retry_node.cpp:44
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
Definition: retry_node.cpp:50
virtual ~RetryNode() override=default
NodeStatus
Definition: basic_types.h:28
static const NodeParameters & requiredNodeParameters()
Definition: retry_node.h:31


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