repeat_node.h
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1 /* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved
2  * Copyright (C) 2018-2019 Davide Faconti, Eurecat - 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,
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12 */
13 
14 #ifndef DECORATOR_REPEAT_NODE_H
15 #define DECORATOR_REPEAT_NODE_H
16 
18 
19 namespace BT
20 {
36 class RepeatNode : public DecoratorNode
37 {
38  public:
39 
40  RepeatNode(const std::string& name, int NTries);
41 
42  RepeatNode(const std::string& name, const NodeConfiguration& config);
43 
44  virtual ~RepeatNode() override = default;
45 
47  {
48  return { InputPort<int>(NUM_CYCLES,
49  "Repeat a succesful child up to N times. "
50  "Use -1 to create an infinite loop.") };
51  }
52 
53  private:
56 
58  static constexpr const char* NUM_CYCLES = "num_cycles";
59 
60  virtual NodeStatus tick() override;
61 
62  void halt() override;
63 };
64 
65 }
66 
67 #endif
const std::string & name() const
Name of the instance, not the type.
Definition: tree_node.cpp:73
const NodeConfiguration & config() const
Definition: tree_node.cpp:99
The RepeatNode is used to execute a child several times, as long as it succeed.
Definition: repeat_node.h:36
static constexpr const char * NUM_CYCLES
Definition: repeat_node.h:58
virtual ~RepeatNode() override=default
virtual NodeStatus tick() override
Method to be implemented by the user.
Definition: repeat_node.cpp:38
RepeatNode(const std::string &name, int NTries)
Definition: repeat_node.cpp:20
std::unordered_map< std::string, PortInfo > PortsList
Definition: basic_types.h:316
void halt() override
The method used to interrupt the execution of this node.
Definition: repeat_node.cpp:84
static PortsList providedPorts()
Definition: repeat_node.h:46
NodeStatus
Definition: basic_types.h:35
bool read_parameter_from_ports_
Definition: repeat_node.h:57


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