Add interaction node

include/behaviortree_cpp/action_node.h

@@ -38,7 +38,7 @@ class ActionNodeBase : public LeafNode
   ActionNodeBase(const std::string& name, const NodeConfig& config);
   ~ActionNodeBase() override = default;
 
-  virtual NodeType type() const override final
+  virtual NodeType type() const override
   {
     return NodeType::ACTION;
   }

include/behaviortree_cpp/basic_types.h

@@ -21,6 +21,7 @@ enum class NodeType
 {
   UNDEFINED = 0,
   ACTION,
+  INTERACTION,
   CONDITION,
   ASSUMPTIONCHECKER,
   CONTROL,

include/behaviortree_cpp/interaction_node.h

@@ -0,0 +1,25 @@
+#ifndef INTERACTIONNODE_H
+#define INTERACTIONNODE_H
+
+#include "leaf_node.h"
+#include "behaviortree_cpp/action_node.h"
+
+namespace BT
+{
+class InteractionNode : public SyncActionNode
+{
+public:
+  InteractionNode(const std::string& name, const NodeConfig& config);
+  ~InteractionNode() override = default;
+
+  /// throws if the derived class return RUNNING.
+  virtual NodeStatus executeTick() override;
+
+  virtual NodeType type() const override final
+  {
+    return NodeType::INTERACTION;
+  }
+};
+}  // namespace BT
+
+#endif

src/interaction_node.cpp

@@ -0,0 +1,8 @@
+#include "behaviortree_cpp/interaction_node.h"
+
+namespace BT
+{
+InteractionNode::InteractionNode(const std::string& name, const NodeConfig& config)
+  : SyncActionNode(name, config)
+{}
+}