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Registered missing dummy nodes for examples #275

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Merged
merged 2 commits into from
Apr 25, 2021
Merged

Registered missing dummy nodes for examples #275

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e48be89
Added CheckTemperature dummy node
asasine Apr 23, 2021
cdf6374
Added SayHello dummy node
asasine Apr 23, 2021
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12 changes: 12 additions & 0 deletions sample_nodes/dummy_nodes.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,18 @@ BT::NodeStatus CheckBattery()
return BT::NodeStatus::SUCCESS;
}

BT::NodeStatus CheckTemperature()
{
std::cout << "[ Temperature: OK ]" << std::endl;
return BT::NodeStatus::SUCCESS;
}

BT::NodeStatus SayHello()
{
std::cout << "Robot says: Hello World" << std::endl;
return BT::NodeStatus::SUCCESS;
}

BT::NodeStatus GripperInterface::open()
{
_opened = true;
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5 changes: 5 additions & 0 deletions sample_nodes/dummy_nodes.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,9 @@ namespace DummyNodes

BT::NodeStatus CheckBattery();

BT::NodeStatus CheckTemperature();
BT::NodeStatus SayHello();

class GripperInterface
{
public:
Expand Down Expand Up @@ -69,6 +72,8 @@ inline void RegisterNodes(BT::BehaviorTreeFactory& factory)
static GripperInterface grip_singleton;

factory.registerSimpleCondition("CheckBattery", std::bind(CheckBattery));
factory.registerSimpleCondition("CheckTemperature", std::bind(CheckTemperature));
factory.registerSimpleAction("SayHello", std::bind(SayHello));
factory.registerSimpleAction("OpenGripper", std::bind(&GripperInterface::open, &grip_singleton));
factory.registerSimpleAction("CloseGripper", std::bind(&GripperInterface::close, &grip_singleton));
factory.registerNodeType<ApproachObject>("ApproachObject");
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