more generic way to specify count from child nodes size

BehaviorTree · Apr 15, 2022 · fd4763c · fd4763c
1 parent b176ed9
commit fd4763c
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/controls/parallel_node.cpp b/src/controls/parallel_node.cpp
@@ -144,15 +144,15 @@ void ParallelNode::halt()
 
 unsigned int ParallelNode::thresholdM()
 {
-    return success_threshold_ == -1
-      ? children_nodes_.size()
+    return success_threshold_ < 0
+      ? children_nodes_.size() + success_threshold_ + 1
       : success_threshold_;
 }
 
 unsigned int ParallelNode::thresholdFM()
 {
-    return failure_threshold_ == -1
-      ? children_nodes_.size()
+    return failure_threshold_ < 0
+      ? children_nodes_.size() + success_threshold_ + 1
       : failure_threshold_;
 }