control_node.h
Go to the documentation of this file.
1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018 Davide Faconti - All Rights Reserved
3 *
4 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
5 * to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
6 * 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:
7 * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
8 *
9 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
10 * 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,
11 * 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.
12 */
13 
14 #ifndef CONTROLNODE_H
15 #define CONTROLNODE_H
16 
17 #include <vector>
19 
20 namespace BT
21 {
22 class ControlNode : public TreeNode
23 {
24  protected:
25  // Children vector
26  std::vector<TreeNode*> children_nodes_;
27 
28  public:
29  // Constructor
30  ControlNode(const std::string& name, const NodeParameters& parameters);
31 
32  virtual ~ControlNode() override = default;
33 
34  // The method used to fill the child vector
35  void addChild(TreeNode* child);
36 
37  // The method used to know the number of children
38  unsigned int childrenCount() const;
39 
40  const std::vector<TreeNode*>& children() const;
41 
42  const TreeNode* child(unsigned index) const
43  {
44  return children().at(index);
45  }
46 
47  // The method used to interrupt the execution of the node
48  virtual void halt() override;
49 
50  void haltChildren(int i);
51 
52  virtual NodeType type() const override final
53  {
54  return NodeType::CONTROL;
55  }
56 };
57 }
58 
59 #endif
const std::string & name() const
Definition: tree_node.cpp:92
std::vector< TreeNode * > children_nodes_
Definition: control_node.h:26
virtual ~ControlNode() override=default
virtual void halt() override
The method used to interrupt the execution of a RUNNING node.
const std::vector< TreeNode * > & children() const
void haltChildren(int i)
unsigned int childrenCount() const
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
void addChild(TreeNode *child)
const TreeNode * child(unsigned index) const
Definition: control_node.h:42
virtual NodeType type() const overridefinal
Definition: control_node.h:52
ControlNode(const std::string &name, const NodeParameters &parameters)
NodeType
Definition: basic_types.h:16


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sun Feb 3 2019 03:14:32