Method registerSimpleAction

src/bt_factory.cpp:231–242

}

void BehaviorTreeFactory::registerSimpleAction(
    const std::string& ID, const SimpleActionNode::TickFunctor& tick_functor,
    PortsList ports)
{
  const NodeBuilder builder = [tick_functor, ID](const std::string& name,
                                                 const NodeConfig& config) {
    return std::make_unique<SimpleActionNode>(name, tick_functor, config);
  };

  const TreeNodeManifest manifest = { NodeType::ACTION, ID, std::move(ports), {} };
  registerBuilder(manifest, builder);
}

void BehaviorTreeFactory::registerSimpleDecorator(
    const std::string& ID, const SimpleDecoratorNode::TickFunctor& tick_functor,