00001 /* Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved 00002 * 00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00004 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00005 * 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: 00006 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00007 * 00008 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00009 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 00010 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00011 */ 00012 00013 #ifndef ACTION_ALWAYS_FAILURE_NODE_H 00014 #define ACTION_ALWAYS_FAILURE_NODE_H 00015 00016 #include "behaviortree_cpp/action_node.h" 00017 00018 namespace BT 00019 { 00023 class AlwaysFailureNode : public SyncActionNode 00024 { 00025 public: 00026 AlwaysFailureNode(const std::string& name) : 00027 SyncActionNode(name, {}) 00028 { 00029 setRegistrationID("AlwaysFailure"); 00030 } 00031 00032 private: 00033 virtual BT::NodeStatus tick() override 00034 { 00035 return NodeStatus::FAILURE; 00036 } 00037 }; 00038 } 00039 00040 #endif