force_success_node.h
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1 /* Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved
2 *
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11 */
12 
13 #ifndef DECORATOR_ALWAYS_SUCCESS_NODE_H
14 #define DECORATOR_ALWAYS_SUCCESS_NODE_H
15 
17 
18 namespace BT
19 {
24 {
25  public:
26  ForceSuccessNode(const std::string& name) :
27  DecoratorNode(name, {} )
28  {
29  setRegistrationID("ForceSuccess");
30  }
31 
32  private:
33  virtual BT::NodeStatus tick() override;
34 };
35 
36 //------------ implementation ----------------------------
37 
39 {
41 
42  const NodeStatus child_state = child_node_->executeTick();
43 
44  switch (child_state)
45  {
48  {
49  return NodeStatus::SUCCESS;
50  }
51 
53  {
54  return NodeStatus::RUNNING;
55  }
56 
57  default:
58  {
59  // TODO throw?
60  }
61  }
62  return status();
63 }
64 }
65 
66 #endif
const std::string & name() const
Name of the instance, not the type.
Definition: tree_node.cpp:73
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
TreeNode * child_node_
void setRegistrationID(StringView ID)
Definition: tree_node.h:158
The ForceSuccessNode returns always SUCCESS or RUNNING.
NodeStatus status() const
Definition: tree_node.cpp:56
ForceSuccessNode(const std::string &name)
NodeStatus
Definition: basic_types.h:35
virtual BT::NodeStatus executeTick()
The method that should be used to invoke tick() and setStatus();.
Definition: tree_node.cpp:33
void setStatus(NodeStatus new_status)
Definition: tree_node.cpp:40


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sat Jun 8 2019 18:04:05