subtree_node.h

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#ifndef DECORATOR_SUBTREE_NODE_H
#define DECORATOR_SUBTREE_NODE_H
 
#include "behaviortree_cpp_v3/decorator_node.h"
 
namespace BT
{
class SubtreeNode : public DecoratorNode
{
public:
  SubtreeNode(const std::string& name);
 
  virtual ~SubtreeNode() override = default;
 
private:
  virtual BT::NodeStatus tick() override;
 
  static PortsList providedPorts()
  {
    return {InputPort<bool>("__shared_blackboard", false,
                            "If false (default) the subtree has its own blackboard and "
                            "you"
                            "need to do port remapping to connect it to the parent")};
  }
 
  virtual NodeType type() const override final
  {
    return NodeType::SUBTREE;
  }
};
 
class SubtreePlusNode : public DecoratorNode
{
public:
  SubtreePlusNode(const std::string& name);
 
  virtual ~SubtreePlusNode() override = default;
 
private:
  virtual BT::NodeStatus tick() override;
 
  static PortsList providedPorts()
  {
    return {InputPort<bool>("__autoremap", false,
                            "If true, all the ports with the same name will be "
                            "remapped")};
  }
 
  virtual NodeType type() const override final
  {
    return NodeType::SUBTREE;
  }
};
 
}   // namespace BT
 
#endif   // DECORATOR_SUBTREE_NODE_H