Method Instantiate

include/behaviortree_cpp/tree_node.h:382–399

     */
  template <class DerivedT, typename... ExtraArgs>
  static std::unique_ptr<TreeNode> Instantiate(const std::string& name,
                                               const NodeConfig& config,
                                               ExtraArgs... args)
  {
    static_assert(hasNodeFullCtor<DerivedT, ExtraArgs...>() ||
                  hasNodeNameCtor<DerivedT>());

    if constexpr(hasNodeFullCtor<DerivedT, ExtraArgs...>())
    {
      return std::make_unique<DerivedT>(name, config, args...);
    }
    else if constexpr(hasNodeNameCtor<DerivedT>())
    {
      auto node_ptr = std::make_unique<DerivedT>(name, args...);
      node_ptr->config() = config;
      return node_ptr;
    }
  }

protected:
  friend class BehaviorTreeFactory;