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 #include "behaviortree_cpp/decorators/inverter_node.h" 00015 00016 namespace BT 00017 { 00018 InverterNode::InverterNode(const std::string& name) : 00019 DecoratorNode(name, {} ) 00020 { 00021 setRegistrationID("AlwaysSuccess"); 00022 } 00023 00024 NodeStatus InverterNode::tick() 00025 { 00026 setStatus(NodeStatus::RUNNING); 00027 00028 const NodeStatus child_state = child_node_->executeTick(); 00029 00030 switch (child_state) 00031 { 00032 case NodeStatus::SUCCESS: 00033 { 00034 return NodeStatus::FAILURE; 00035 } 00036 00037 case NodeStatus::FAILURE: 00038 { 00039 return NodeStatus::SUCCESS; 00040 } 00041 00042 case NodeStatus::RUNNING: 00043 { 00044 return NodeStatus::RUNNING; 00045 } 00046 00047 default: 00048 { 00049 throw LogicError("A child node must never return IDLE"); 00050 } 00051 } 00052 //return status(); 00053 } 00054 00055 }