[RetryNode] add is_retrying and n_th_retry

uml-robotics · Nov 2, 2020 · 2a7e30a · 2a7e30a
1 parent 9e39bfc
commit 2a7e30a
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/include/behaviortree_cpp_v3/decorators/retry_node.h b/include/behaviortree_cpp_v3/decorators/retry_node.h
@@ -52,6 +52,14 @@ class RetryNode : public DecoratorNode
 
     virtual void halt() override;
 
+    bool is_retrying() const {
+        return try_index_ > 0;
+    }
+
+    int n_th_retry() const {
+        return try_index_;
+    }
+
   private:
     int max_attempts_;
     int try_index_;