14 #ifndef PARALLEL_NODE_H 15 #define PARALLEL_NODE_H 28 unsigned failure_threshold = 1);
34 return { InputPort<unsigned>(
THRESHOLD_SUCCESS,
"number of childen which need to succeed to trigger a SUCCESS" ),
35 InputPort<unsigned>(
THRESHOLD_FAILURE, 1,
"number of childen which need to fail to trigger a FAILURE" ) };
40 virtual void halt()
override;
61 #endif // PARALLEL_NODE_H unsigned int thresholdM()
const std::string & name() const
Name of the instance, not the type.
const NodeConfiguration & config() const
void setThresholdFM(unsigned int threshold_M)
static constexpr const char * THRESHOLD_SUCCESS
unsigned int success_threshold_
static constexpr const char * THRESHOLD_FAILURE
std::set< int > skip_list_
bool read_parameter_from_ports_
void setThresholdM(unsigned int threshold_M)
virtual void halt() override
unsigned int thresholdFM()
unsigned int failure_threshold_
std::unordered_map< std::string, PortInfo > PortsList
ParallelNode(const std::string &name, unsigned success_threshold, unsigned failure_threshold=1)
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
static PortsList providedPorts()