Function RegisterNodes

sample_nodes/dummy_nodes.h:121–134

};

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");
  factory.registerNodeType<SaySomething>("SaySomething");
}

}  // namespace DummyNodes