Interaction now derived from action base

uml-robotics · Apr 18, 2024 · da856c5 · da856c5
1 parent 0f9ebb2
commit da856c5
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/include/behaviortree_cpp/interaction_node.h b/include/behaviortree_cpp/interaction_node.h
@@ -6,15 +6,12 @@
 
 namespace BT
 {
-class InteractionNode : public SyncActionNode
+class InteractionNode : public ActionNodeBase
 {
 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;

diff --git a/src/interaction_node.cpp b/src/interaction_node.cpp
@@ -3,6 +3,7 @@
 namespace BT
 {
 InteractionNode::InteractionNode(const std::string& name, const NodeConfig& config)
-  : SyncActionNode(name, config)
+  : ActionNodeBase(name, config)
 {}
+
 }