crossdoor_nodes.h

Go to the documentation of this file.

#pragma once
 
#include "behaviortree_cpp/bt_factory.h"
 
class CrossDoor
{
public:
  void registerNodes(BT::BehaviorTreeFactory& factory);
 
  void reset();
 
  // SUCCESS if _door_open == true
  BT::NodeStatus isDoorClosed();
 
  // SUCCESS if _door_open == true
  BT::NodeStatus passThroughDoor();
 
  // After 3 attempts, will open a locked door
  BT::NodeStatus pickLock();
 
  // FAILURE if door locked
  BT::NodeStatus openDoor();
 
  // WILL always open a door
  BT::NodeStatus smashDoor();
 
private:
  bool _door_open = false;
  bool _door_locked = true;
  int _pick_attempts = 0;
};