text: /*  Copyright (C) 2018 Davide Faconti -  All Rights Reserved
  *
  *   Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
  *   to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
  *   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
  *   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
  *
  *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
  *   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
  
  #ifndef ACTION_ALWAYS_SUCCESS_NODE_H
  #define ACTION_ALWAYS_SUCCESS_NODE_H
  
  #include "behaviortree_cpp/action_node.h"
  
  namespace BT
  {
  class AlwaysSuccess : public ActionNodeBase
  {
    public:
      AlwaysSuccess(const std::string& name) : ActionNodeBase(name, NodeParameters())
      {
      }
  
    private:
      virtual BT::NodeStatus tick() override
      {
          return NodeStatus::SUCCESS;
      }
      virtual void halt() override
      {
      }
  };
  }
  
  #endif
  