const TreeNode * child() const
const std::string & name() const
Name of the instance, not the type.
const NodeConfiguration & config() const
std::function< NodeStatus(NodeStatus, TreeNode &)> TickFunctor
virtual NodeStatus tick() override
Method to be implemented by the user.
DecoratorNode(const std::string &name, const NodeConfiguration &config)
virtual void halt() override
The method used to interrupt the execution of this node.
void haltChild()
Halt() the child node.
SimpleDecoratorNode(const std::string &name, TickFunctor tick_functor, const NodeConfiguration &config)
void setChild(TreeNode *child)
NodeStatus executeTick() override
The method that should be used to invoke tick() and setStatus();.
Abstract base class for Behavior Tree Nodes.
NodeStatus status() const
TickFunctor tick_functor_
virtual BT::NodeStatus executeTick()
The method that should be used to invoke tick() and setStatus();.
void setStatus(NodeStatus new_status)