Merge pull request #996 from EnjoyRobotics/make-sequence-node-inheritable

Make sequence node inheritable

Author: facontidavide

include/behaviortree_cpp/controls/sequence_node.h

@@ -34,7 +34,8 @@ namespace BT
 class SequenceNode : public ControlNode
 {
 public:
-  SequenceNode(const std::string& name, bool make_async = false);
+  SequenceNode(const std::string& name, bool make_async = false,
+               const NodeConfiguration& conf = NodeConfiguration());
 
   virtual ~SequenceNode() override = default;
 
@@ -43,11 +44,11 @@ class SequenceNode : public ControlNode
 protected:
   size_t current_child_idx_;
 
+  virtual BT::NodeStatus tick() override;
+
 private:
   size_t skipped_count_ = 0;
   bool asynch_ = false;
-
-  virtual BT::NodeStatus tick() override;
 };
 
 }  // namespace BT

src/controls/sequence_node.cpp

@@ -15,8 +15,9 @@
 
 namespace BT
 {
-SequenceNode::SequenceNode(const std::string& name, bool make_async)
-  : ControlNode::ControlNode(name, {}), current_child_idx_(0), asynch_(make_async)
+SequenceNode::SequenceNode(const std::string& name, bool make_async,
+                           const NodeConfiguration& conf)
+  : ControlNode::ControlNode(name, conf), current_child_idx_(0), asynch_(make_async)
 {
   if(asynch_)
     setRegistrationID("AsyncSequence");