From 298f3dca91d86bfffe691f6c9ad87d4f375c734e Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 16 May 2023 17:48:20 +0200
Subject: [PATCH] Removed base_bt_functions
---
CMakeLists.txt | 3 +--
README.md | 7 -------
include/iri_bt_basic_nodes.h | 38 ------------------------------------
src/iri_bt_basic_nodes.cpp | 11 -----------
4 files changed, 1 insertion(+), 58 deletions(-)
delete mode 100644 include/iri_bt_basic_nodes.h
delete mode 100644 src/iri_bt_basic_nodes.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f6d802..6231ae8 100644
--- a/CMakeLists.txt
+++ b/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
diff --git a/README.md b/README.md
index ed826a9..e201280 100644
--- a/README.md
+++ b/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">
diff --git a/include/iri_bt_basic_nodes.h b/include/iri_bt_basic_nodes.h
deleted file mode 100644
index e9b87f7..0000000
--- a/include/iri_bt_basic_nodes.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#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
diff --git a/src/iri_bt_basic_nodes.cpp b/src/iri_bt_basic_nodes.cpp
deleted file mode 100644
index d4e2c5e..0000000
--- a/src/iri_bt_basic_nodes.cpp
+++ /dev/null
@@ -1,11 +0,0 @@
-#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;
-}
--
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