if_then_else_node.h

/* Copyright (C) 2020-2025 Davide Faconti -  All Rights Reserved
*
*   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
*   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
*   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
*   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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*/
 
#pragma once
 
#include "behaviortree_cpp/control_node.h"
 
namespace BT
{
/**
 * @brief IfThenElseNode must have exactly 2 or 3 children. This node is NOT reactive.
 *
 * The first child is the "statement" of the if.
 *
 * If that return SUCCESS, then the second child is executed.
 *
 * Instead, if it returned FAILURE, the third child is executed.
 *
 * If you have only 2 children, this node will return FAILURE whenever the
 * statement returns FAILURE.
 *
 * This is equivalent to add AlwaysFailure as 3rd child.
 *
 */
class IfThenElseNode : public ControlNode
{
public:
  IfThenElseNode(const std::string& name);
 
  ~IfThenElseNode() override = default;
 
  IfThenElseNode(const IfThenElseNode&) = delete;
  IfThenElseNode& operator=(const IfThenElseNode&) = delete;
  IfThenElseNode(IfThenElseNode&&) = delete;
  IfThenElseNode& operator=(IfThenElseNode&&) = delete;
 
  virtual void halt() override;
 
private:
  size_t child_idx_;
 
  virtual BT::NodeStatus tick() override;
};
 
}  // namespace BT