/* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved

* Copyright (C) 2018-2025 Davide Faconti, Eurecat - 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,

* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

*/

#include "behaviortree_cpp/condition_node.h"

namespace BT

{

ConditionNode::ConditionNode(const std::string& name, const NodeConfig& config)

: LeafNode::LeafNode(name, config)

{}

SimpleConditionNode::SimpleConditionNode(const std::string& name,

TickFunctor tick_functor,

const NodeConfig& config)

: ConditionNode(name, config), tick_functor_(std::move(tick_functor))

{}

NodeStatus SimpleConditionNode::tick()

{

return tick_functor_(*this);

}

} // namespace BT