control_node.cpp
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018-2020 Davide Faconti, Eurecat - 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 *
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12 */
13 
15 
16 namespace BT
17 {
18 ControlNode::ControlNode(const std::string& name, const NodeConfig& config)
19  : TreeNode::TreeNode(name, config)
20 {}
21 
23 {
24  children_nodes_.push_back(child);
25 }
26 
28 {
29  return children_nodes_.size();
30 }
31 
33 {
34  resetChildren();
35  resetStatus(); // might be redundant
36 }
37 
39 {
40  for(auto child : children_nodes_)
41  {
43  {
44  child->haltNode();
45  }
46  child->resetStatus();
47  }
48 }
49 
50 const std::vector<TreeNode*>& ControlNode::children() const
51 {
52  return children_nodes_;
53 }
54 
55 void ControlNode::haltChild(size_t i)
56 {
57  auto child = children_nodes_[i];
59  {
60  child->haltNode();
61  }
62  child->resetStatus();
63 }
64 
66 {
67  for(size_t i = 0; i < children_nodes_.size(); i++)
68  {
69  haltChild(i);
70  }
71 }
72 
73 void ControlNode::haltChildren(size_t first)
74 {
75  for(size_t i = first; i < children_nodes_.size(); i++)
76  {
77  haltChild(i);
78  }
79 }
80 
81 } // namespace BT
BT
Definition: ex01_wrap_legacy.cpp:29
BT::ControlNode::childrenCount
size_t childrenCount() const
Definition: control_node.cpp:27
BT::TreeNode
Abstract base class for Behavior Tree Nodes.
Definition: tree_node.h:118
BT::ControlNode::children_nodes_
std::vector< TreeNode * > children_nodes_
Definition: control_node.h:24
BT::ControlNode::resetChildren
void resetChildren()
Definition: control_node.cpp:38
BT::TreeNode::status
NodeStatus status() const
Definition: tree_node.cpp:285
BT::TreeNode::ControlNode
friend class ControlNode
Definition: tree_node.h:369
BT::TreeNode::haltNode
void haltNode()
Definition: tree_node.cpp:148
lexy_ext::child
auto child(const lexy::parse_tree< Reader, TokenKind, MemoryResource > &tree, typename lexy::parse_tree< Reader, TokenKind, MemoryResource >::node node, Predicate predicate) -> std::optional< typename lexy::parse_tree< Reader, TokenKind, MemoryResource >::node >
Returns the first child that matches predicate, if there is any.
Definition: parse_tree_algorithm.hpp:244
control_node.h
BT::ControlNode::children
const std::vector< TreeNode * > & children() const
Definition: control_node.cpp:50
BT::ControlNode::haltChild
void haltChild(size_t i)
Definition: control_node.cpp:55
BT::NodeStatus::RUNNING
@ RUNNING
BT::ControlNode::haltChildren
void haltChildren()
same as resetChildren()
Definition: control_node.cpp:65
BT::TreeNode::resetStatus
void resetStatus()
Set the status to IDLE.
Definition: tree_node.cpp:268
BT::ControlNode::child
const TreeNode * child(size_t index) const
Definition: control_node.h:38
BT::ControlNode::halt
virtual void halt() override
Definition: control_node.cpp:32
BT::NodeConfig
Definition: tree_node.h:73
BT::ControlNode::addChild
void addChild(TreeNode *child)
The method used to add nodes to the children vector.
Definition: control_node.cpp:22


behaviortree_cpp_v4
Author(s): Davide Faconti
autogenerated on Fri Dec 13 2024 03:19:16