Function main

examples/ex01_wrap_legacy.cpp:69–98

// clang-format on

int main()
{
  using namespace BT;

  MyLegacyMoveTo move_to;

  // Here we use a lambda that captures the reference of move_to
  auto MoveToWrapperWithLambda = [&move_to](TreeNode& parent_node) -> NodeStatus {
    Point3D goal{};
    // thanks to paren_node, you can access easily the input and output ports.
    parent_node.getInput("goal", goal);

    bool res = move_to.go(goal);
    // convert bool to NodeStatus
    return res ? NodeStatus::SUCCESS : NodeStatus::FAILURE;
  };

  BehaviorTreeFactory factory;

  // Register the lambda with BehaviorTreeFactory::registerSimpleAction

  PortsList ports = { BT::InputPort<Point3D>("goal") };
  factory.registerSimpleAction("MoveTo", MoveToWrapperWithLambda, ports);

  auto tree = factory.createTreeFromText(xml_text);

  tree.tickWhileRunning();

  return 0;
}

/* Expected output: