subtree_node.cpp

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#include "behaviortree_cpp_v3/decorators/subtree_node.h"

BT::SubtreeNode::SubtreeNode(const std::string& name) : DecoratorNode(name, {})
{
  setRegistrationID("SubTree");
}

BT::NodeStatus BT::SubtreeNode::tick()
{
  NodeStatus prev_status = status();
  if (prev_status == NodeStatus::IDLE)
  {
    setStatus(NodeStatus::RUNNING);
  }
  auto status = child_node_->executeTick();
  if(status != NodeStatus::RUNNING)
  {
    resetChild();
  }

  return status;
}

//--------------------------------
BT::SubtreePlusNode::SubtreePlusNode(const std::string& name) : DecoratorNode(name, {})
{
  setRegistrationID("SubTreePlus");
}

BT::NodeStatus BT::SubtreePlusNode::tick()
{
  NodeStatus prev_status = status();
  if (prev_status == NodeStatus::IDLE)
  {
    setStatus(NodeStatus::RUNNING);
  }
  auto status = child_node_->executeTick();
  if(status != NodeStatus::RUNNING)
  {
    resetChild();
  }

  return status;
}