sequence_node.cpp
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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,
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,
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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 
16 
17 namespace BT
18 {
19 
20 
21 SequenceNode::SequenceNode(const std::string& name)
22  : ControlNode::ControlNode(name, {} )
24 {
25  setRegistrationID("Sequence");
26 }
27 
29 {
32 }
33 
35 {
36  const size_t children_count = children_nodes_.size();
37 
39 
40  while (current_child_idx_ < children_count)
41  {
42  TreeNode* current_child_node = children_nodes_[current_child_idx_];
43  const NodeStatus child_status = current_child_node->executeTick();
44 
45  switch (child_status)
46  {
48  {
49  return child_status;
50  }
52  {
53  // Reset on failure
54  haltChildren(0);
56  return child_status;
57  }
59  {
61  }
62  break;
63 
64  case NodeStatus::IDLE:
65  {
66  throw LogicError("A child node must never return IDLE");
67  }
68  } // end switch
69  } // end while loop
70 
71  // The entire while loop completed. This means that all the children returned SUCCESS.
72  if (current_child_idx_ == children_count)
73  {
74  haltChildren(0);
76  }
77  return NodeStatus::SUCCESS;
78 }
79 
80 }
virtual void halt() override
std::vector< TreeNode * > children_nodes_
Definition: control_node.h:25
virtual void halt() override
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
unsigned int current_child_idx_
Definition: sequence_node.h:44
Abstract base class for Behavior Tree Nodes.
Definition: tree_node.h:53
SequenceNode(const std::string &name)
void haltChildren(unsigned i)
call halt() for all the children in the range [i, childrenCount() )
void setRegistrationID(StringView ID)
Definition: tree_node.h:158
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