decorator_node.h

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#ifndef DECORATORNODE_H
#define DECORATORNODE_H
 
#include "behaviortree_cpp/tree_node.h"
 
namespace BT
{
class DecoratorNode : public TreeNode
{
protected:
  TreeNode* child_node_;
 
public:
  DecoratorNode(const std::string& name, const NodeConfig& config);
 
  virtual ~DecoratorNode() override = default;
 
  void setChild(TreeNode* child);
 
  const TreeNode* child() const;
 
  TreeNode* child();
 
  virtual void halt() override;
 
  void haltChild();
 
  virtual NodeType type() const override
  {
    return NodeType::DECORATOR;
  }
 
  NodeStatus executeTick() override;
 
  void resetChild();
};
 
class SimpleDecoratorNode : public DecoratorNode
{
public:
  using TickFunctor = std::function<NodeStatus(NodeStatus, TreeNode&)>;
 
  // You must provide the function to call when tick() is invoked
  SimpleDecoratorNode(const std::string& name, TickFunctor tick_functor,
                      const NodeConfig& config);
 
  ~SimpleDecoratorNode() override = default;
 
protected:
  virtual NodeStatus tick() override;
 
  TickFunctor tick_functor_;
};
}  // namespace BT
 
#endif