Removed base_bt_functions

CMakeLists.txt

@@ -95,8 +95,7 @@ include_directories(${catkin_INCLUDE_DIRS})
 # add_library(iri_behaviortree
 #   src/${PROJECT_NAME}/iri_behaviortree.cpp
 # )
-add_library(${PROJECT_NAME} src/iri_async_action.cpp src/iri_bt_factory.cpp
-              src/iri_bt_basic_nodes.cpp)
+add_library(${PROJECT_NAME} src/iri_async_action.cpp src/iri_bt_factory.cpp)
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
 ## Declare a cpp executable

README.md

@@ -12,13 +12,6 @@ This library is intendend to expand the [behaviortree](https://github.com/Behavi
 
   This is acomplished with the definition of the new class **IriBehaviorTreeFactory**. This class just implements the *registerIriAsyncAction* function to register any *IriAsyncActionNode* in the same way a *SimpleActionNode* would be registered using *registerSimpleAction*.
 
-* It also provides a set of basic BehaviorTree nodes (BT nodes) and the function to register them.
-
-  This is acomplished with the definition of a new class **IriBehaviorTreeBasicNodes** that implements this basic BT nodes and provides a function called *init* to register these BT nodes.
-
-  The basic nodes provided are:
-  * **NOP:** Action that always return running.
-
  On the following image a general overview of the inheritance is shown:
 
 <img src="doc/images/general_overview.png" alt="Image: General overview">

include/iri_bt_basic_nodes.h

-#ifndef IRI_BT_BASIC_NODES_H
-#define IRI_BT_BASIC_NODES_H
-
-#include "iri_bt_factory.h"
-
-class IriBehaviorTreeBasicNodes
-{
-  public:
-    IriBehaviorTreeBasicNodes()
-    {
-
-    }
-
-    /**
-      * \brief Register all basic conditions and actions
-      *
-      * This function registers all basic conditions and actions needed for
-      * any generic application.
-      *
-      * \param factory (IriBehaviorTreeFactory)
-      *
-      */
-    void init(IriBehaviorTreeFactory &factory);
-
-  protected:
-    /**
-      * \brief Does nothing
-      *
-      * This function does nothing and it is useful for synchronous functions
-      * in order to wait for the action to finish (checking is_finished())
-      *
-      * \return a BT:NodeStatus::RUNNING always
-      *
-      */
-    BT::NodeStatus NOP();
-};
-
-#endif

src/iri_bt_basic_nodes.cpp

-#include "iri_bt_basic_nodes.h"
-
-void IriBehaviorTreeBasicNodes::init(IriBehaviorTreeFactory &factory)
-{
-  factory.registerIriAsyncAction("NOP",  std::bind(&IriBehaviorTreeBasicNodes::NOP, this));
-}
-
-BT::NodeStatus IriBehaviorTreeBasicNodes::NOP()
-{
-    return BT::NodeStatus::RUNNING;
-}