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facontidavide merged 1 commit into from
Mar 7, 2023
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Update tutorial_04_sequence.md #13

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8 changes: 4 additions & 4 deletions docs/tutorial-basics/tutorial_04_sequence.md
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Expand Up @@ -30,7 +30,7 @@ Actions. You will find an extensive article

## StatefulAsyncAction

The __StatefulAsyncAction__ is the preferred way to implement asynchronous Actions.
The __StatefulActionNode__ is the preferred way to implement asynchronous Actions.

It is particularly useful when your code contains a __request-reply pattern__,
i.e. when the action sends an asynchronous request to another process,
Expand All @@ -43,7 +43,7 @@ computation that takes a long time, you may want to split it into small "chunks"
or you may want to move that computation to another thread
(see [AsyncThreadedAction](tutorial-advanced/asynchronous_nodes.md) tutorial).

A derived class of __StatefulAsyncAction__ must override the following virtual methods,
A derived class of __StatefulActionNode__ must override the following virtual methods,
instead of `tick()`:

- __NodeStatus onStart()__: called when the Node was in IDLE state.
Expand All @@ -67,12 +67,12 @@ struct Pose2D

namespace chr = std::chrono;

class MoveBaseAction : public BT::StatefulAsyncAction
class MoveBaseAction : public BT::StatefulActionNode
{
public:
// Any TreeNode with ports must have a constructor with this signature
MoveBaseAction(const std::string& name, const BT::NodeConfig& config)
: StatefulAsyncAction(name, config)
: StatefulActionNode(name, config)
{}

// It is mandatory to define this static method.
Expand Down