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controlとdecoratorのエイリアス関数名を短縮
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@Kotakku
Kotakku committed Feb 15, 2024
1 parent c31d6e4 commit 396a4f1
Showing 1 changed file with 24 additions and 24 deletions.
48 changes: 24 additions & 24 deletions include/micro_behaviortree_cpp/micro_behaviortree_cpp.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,7 @@ class Builder
return *this;
}

Builder& control_end()
Builder& end()
{
bool is_control_child = (!builder_parent_.empty() && builder_parent_.back().control_node != nullptr);
assert(is_control_child);
Expand All @@ -164,34 +164,34 @@ class Builder
{"value", value}});
}

Builder& control_fallback() { return control<FallbackNode>({}); }
Builder& control_if_then_else() { return control<IfThenElseNode>({}); }
Builder& control_parallel(int failure_threshold, int success_threshold)
Builder& fallback() { return control<FallbackNode>({}); }
Builder& if_then_else() { return control<IfThenElseNode>({}); }
Builder& parallel(int failure_threshold, int success_threshold)
{
return control<ParallelNode>({
{"failure_threshold", toStr(failure_threshold)},
{"success_threshold", toStr(success_threshold)}});
}
Builder& control_reactive_fallback() { return control<ReactiveFallback>({}); }
Builder& control_reactive_sequence() { return control<ReactiveSequence>({}); }
Builder& control_sequence() { return control<SequenceNode>({}); }
Builder& control_sequence_star() { return control<SequenceStarNode>({}); }
Builder& control_switch2(const std::string& variable, const std::string& value_1, const std::string& value_2)
Builder& reactive_fallback() { return control<ReactiveFallback>({}); }
Builder& reactive_sequence() { return control<ReactiveSequence>({}); }
Builder& sequence() { return control<SequenceNode>({}); }
Builder& sequence_star() { return control<SequenceStarNode>({}); }
Builder& switch2(const std::string& variable, const std::string& value_1, const std::string& value_2)
{
return control<SwitchNode<2>>({
{"variable", variable},
{"value_1", value_1},
{"value_2", value_2}});
}
Builder& control_switch3(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3)
Builder& switch3(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3)
{
return control<SwitchNode<3>>({
{"variable", variable},
{"value_1", value_1},
{"value_2", value_2},
{"value_3", value_3}});
}
Builder& control_switch4(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3, const std::string& value_4)
Builder& switch4(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3, const std::string& value_4)
{
return control<SwitchNode<4>>({
{"variable", variable},
Expand All @@ -200,7 +200,7 @@ class Builder
{"value_3", value_3},
{"value_4", value_4}});
}
Builder& control_switch5(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3, const std::string& value_4, const std::string& value_5)
Builder& switch5(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3, const std::string& value_4, const std::string& value_5)
{
return control<SwitchNode<5>>({
{"variable", variable},
Expand All @@ -210,7 +210,7 @@ class Builder
{"value_4", value_4},
{"value_5", value_5}});
}
Builder& control_switch6(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3, const std::string& value_4, const std::string& value_5, const std::string& value_6)
Builder& switch6(const std::string& variable, const std::string& value_1, const std::string& value_2, const std::string& value_3, const std::string& value_4, const std::string& value_5, const std::string& value_6)
{
return control<SwitchNode<6>>({
{"variable", variable},
Expand All @@ -221,42 +221,42 @@ class Builder
{"value_5", value_5},
{"value_6", value_6}});
}
Builder& control_while_do_else() { return control<WhileDoElseNode>({}); }
Builder& while_do_else() { return control<WhileDoElseNode>({}); }

Builder& decorator_blackboard_check_bool(bool value_A, bool value_B, NodeStatus return_on_mismatch)
Builder& blackboard_check_bool(bool value_A, bool value_B, NodeStatus return_on_mismatch)
{
return decorator<BlackboardPreconditionNode<bool>>({
{"value_A", toStr(value_A)},
{"value_B", toStr(value_B)},
{"return_on_mismatch", toStr(return_on_mismatch)}});
}
Builder& decorator_blackboard_check_int(int value_A, int value_B, NodeStatus return_on_mismatch)
Builder& blackboard_check_int(int value_A, int value_B, NodeStatus return_on_mismatch)
{
return decorator<BlackboardPreconditionNode<int>>({
{"value_A", toStr(value_A)},
{"value_B", toStr(value_B)},
{"return_on_mismatch", toStr(return_on_mismatch)}});
}
Builder& decorator_blackboard_check_double(double value_A, double value_B, NodeStatus return_on_mismatch)
Builder& blackboard_check_double(double value_A, double value_B, NodeStatus return_on_mismatch)
{
return decorator<BlackboardPreconditionNode<double>>({
{"value_A", toStr(value_A)},
{"value_B", toStr(value_B)},
{"return_on_mismatch", toStr(return_on_mismatch)}});
}
Builder& decorator_blackboard_check_string(const std::string &value_A, const std::string &value_B, NodeStatus return_on_mismatch)
Builder& blackboard_check_string(const std::string &value_A, const std::string &value_B, NodeStatus return_on_mismatch)
{
return decorator<BlackboardPreconditionNode<std::string>>({
{"value_A", value_A},
{"value_B", value_B},
{"return_on_mismatch", toStr(return_on_mismatch)}});
}
Builder& decorator_force_failure() { return decorator<ForceFailureNode>({}); }
Builder& decorator_force_success() { return decorator<ForceSuccessNode>({}); }
Builder& decorator_inverter() { return decorator<InverterNode>({}); }
Builder& decorator_keep_running_until_failure() { return decorator<KeepRunningUntilFailureNode>({}); }
Builder& decorator_repeat(int num_cycles) { return decorator<RepeatNode>({{"num_cycles", toStr(num_cycles)}}); }
Builder& decorator_retry_until_successful(int num_attempts) { return decorator<RetryNode>({{"num_attempts", toStr(num_attempts)}}); }
Builder& force_failure() { return decorator<ForceFailureNode>({}); }
Builder& force_success() { return decorator<ForceSuccessNode>({}); }
Builder& inverter() { return decorator<InverterNode>({}); }
Builder& keep_running_until_failure() { return decorator<KeepRunningUntilFailureNode>({}); }
Builder& repeat(int num_cycles) { return decorator<RepeatNode>({{"num_cycles", toStr(num_cycles)}}); }
Builder& retry_until_successful(int num_attempts) { return decorator<RetryNode>({{"num_attempts", toStr(num_attempts)}}); }

Tree::SharedPtr build()
{
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