/**
* Constructs an ExecutionTask with an associated ModelTask and a
* BTExecutor. The ModelTask represents the conceptual task that the
* ExecutionTask is running, and the BTExecutor is that in charge of the
* ExecutionTask. Also, the parent of the ExecutionTask must be provided.
*
* @param modelTask
* the ModelTask this ExecutionTask will run.
* @param executor
* the BTExecutor managing this task.
* @param parent
* the parent ExecutionTask, or null in case this is the root of
* the tree.
*/
protected ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
_modelTask = modelTask;
_executor = executor as BTExecutor;
_listeners = new List <ITaskListener>();
_spawnable = true;
_tickable = false;
_terminated = false;
_status = Status.Uninitialized;
_parent = parent;
if (_modelTask != null)
{
AlwaysFail = modelTask.AlwaysFail;
}
/* Compute the position of this node. */
if (parent == null)
{
_position = new Position();
}
else
{
_position = new Position(parent._position);
var nextMove = GetMove();
_position.AddMove(nextMove);
}
}