subtree_node.h

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#ifndef DECORATOR_SUBTREE_NODE_H
#define DECORATOR_SUBTREE_NODE_H
 
#include "behaviortree_cpp/decorator_node.h"
 
namespace BT
{
class SubTreeNode : public DecoratorNode
{
public:
  SubTreeNode(const std::string& name, const NodeConfig& config);
 
  virtual ~SubTreeNode() override = default;
 
  static PortsList providedPorts();
 
  void setSubtreeID(const std::string& ID)
  {
    subtree_id_ = ID;
  }
 
  const std::string& subtreeID() const
  {
    return subtree_id_;
  }
  virtual BT::NodeStatus tick() override;
 
  virtual NodeType type() const override final
  {
    return NodeType::SUBTREE;
  }
 
private:
  std::string subtree_id_;
};
 
}  // namespace BT
 
#endif  // DECORATOR_SUBTREE_NODE_H