parent_prt_ as ControlNode*

Author: miccol

include/behaviortree_cpp/control_node.h

@@ -19,6 +19,7 @@
 
 namespace BT
 {
+
 class ControlNode : public TreeNode
 {
   protected:

include/behaviortree_cpp/tree_node.h

@@ -27,8 +27,13 @@
 #pragma warning(disable : 4127) 
 #endif
 
+
 namespace BT
 {
+
+class ControlNode;
+
+
 /// This information is used mostly by the XMLParser.
 struct TreeNodeManifest
 {
@@ -148,9 +153,9 @@ class TreeNode
     static StringView stripBlackboardPointer(StringView str);
 
     static Optional<StringView> getRemappedKey(StringView port_name, StringView remapping_value);
-    void set_parent_prt(TreeNode *parent_ptr);
+    void set_parent_prt(ControlNode *parent_ptr);
 
-    TreeNode* parent_prt() const;
+    ControlNode *parent_prt() const;
     unsigned int child_index() const;
     void set_child_index(unsigned int child_index);
 
@@ -169,7 +174,7 @@ class TreeNode
     void modifyPortsRemapping(const PortsRemapping& new_remapping);
     unsigned int child_index_;
 
-    TreeNode* parent_prt_ = nullptr;
+    ControlNode* parent_prt_ = nullptr;
 
   private:
     const std::string name_;

src/controls/reactive_fallback.cpp

@@ -46,7 +46,7 @@ NodeStatus ReactiveFallback::tick()
 //                    std::cout << name() << " is propagating halt to" << ((ControlNode*)parent_prt_)->name() << std::endl;
 
 
-                    ((ControlNode*)parent_prt_)->propagateHalt(child_index_);
+                    parent_prt_->propagateHalt(child_index_);
                 }
 
 

src/controls/reactive_sequence.cpp

@@ -50,7 +50,7 @@ NodeStatus ReactiveSequence::tick()
 //                    std::cout << name() << " is propagating halt to" << ((ControlNode*)parent_prt_)->name() << std::endl;
 
 
-                    ((ControlNode*)parent_prt_)->propagateHalt(child_index_);
+                    parent_prt_->propagateHalt(child_index_);
                 }
 
                 current_child_node->executeTick();

src/tree_node.cpp

@@ -13,7 +13,7 @@
 
 #include "behaviortree_cpp/tree_node.h"
 #include <cstring>
-//#include <behaviortree_cpp/control_node.h>
+#include <behaviortree_cpp/control_node.h>
 
 namespace BT
 {
@@ -172,12 +172,12 @@ void TreeNode::set_child_index(unsigned int child_index)
     child_index_ = child_index;
 }
 
-void TreeNode::set_parent_prt(TreeNode *parent_ptr)
+void TreeNode::set_parent_prt(ControlNode *parent_ptr)
 {
     parent_prt_ = parent_ptr;
 }
 
-TreeNode *TreeNode::parent_prt() const
+ControlNode *TreeNode::parent_prt() const
 {
     return parent_prt_;
 }