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Make sequence node inheritable #996

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Make sequence node inheritable #996

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0c9fe42
Make tick method protected
redvinaa Jul 31, 2025
7fc24c5
Propagate node config to parent
redvinaa Jul 31, 2025
2e8b13e
Lint
redvinaa Jul 31, 2025
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7 changes: 4 additions & 3 deletions include/behaviortree_cpp/controls/sequence_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,8 @@ namespace BT
class SequenceNode : public ControlNode
{
public:
SequenceNode(const std::string& name, bool make_async = false);
SequenceNode(const std::string& name, bool make_async = false,
const NodeConfiguration& conf = NodeConfiguration());

virtual ~SequenceNode() override = default;

Expand All @@ -43,11 +44,11 @@ class SequenceNode : public ControlNode
protected:
size_t current_child_idx_;

virtual BT::NodeStatus tick() override;

private:
size_t skipped_count_ = 0;
bool asynch_ = false;

virtual BT::NodeStatus tick() override;
};

} // namespace BT
5 changes: 3 additions & 2 deletions src/controls/sequence_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,9 @@

namespace BT
{
SequenceNode::SequenceNode(const std::string& name, bool make_async)
: ControlNode::ControlNode(name, {}), current_child_idx_(0), asynch_(make_async)
SequenceNode::SequenceNode(const std::string& name, bool make_async,
const NodeConfiguration& conf)
: ControlNode::ControlNode(name, conf), current_child_idx_(0), asynch_(make_async)
{
if(asynch_)
setRegistrationID("AsyncSequence");
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