00001 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved 00002 * Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), 00005 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 00006 * 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: 00007 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. 00008 * 00009 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00010 * 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, 00011 * 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. 00012 */ 00013 00014 #ifndef CONTROLNODE_H 00015 #define CONTROLNODE_H 00016 00017 #include <vector> 00018 #include "behaviortree_cpp/tree_node.h" 00019 00020 namespace BT 00021 { 00022 class ControlNode : public TreeNode 00023 { 00024 protected: 00025 std::vector<TreeNode*> children_nodes_; 00026 00027 public: 00028 ControlNode(const std::string& name, const NodeConfiguration& config); 00029 00030 virtual ~ControlNode() override = default; 00031 00033 void addChild(TreeNode* child); 00034 00035 unsigned childrenCount() const; 00036 00037 const std::vector<TreeNode*>& children() const; 00038 00039 const TreeNode* child(unsigned index) const 00040 { 00041 return children().at(index); 00042 } 00043 00044 virtual void halt() override; 00045 00047 void haltChildren(unsigned i); 00048 00049 virtual NodeType type() const override final 00050 { 00051 return NodeType::CONTROL; 00052 } 00053 }; 00054 } 00055 00056 #endif