const std::function<void(const TreeNode*)>& visitor)

{

if(node == nullptr)

{

throw LogicError("One of the children of a DecoratorNode or ControlNode is nullptr");

}

visitor(node);

if(auto control = dynamic_cast<const BT::ControlNode*>(node))

{

for(const auto& child : control->children())

{

applyRecursiveVisitor(static_cast<const TreeNode*>(child), visitor);

}

}

else if(auto decorator = dynamic_cast<const BT::DecoratorNode*>(node))

{

applyRecursiveVisitor(decorator->child(), visitor);

}

{

if(node == nullptr)

{

throw LogicError("One of the children of a DecoratorNode or ControlNode is nullptr");

}

visitor(node);

if(auto control = dynamic_cast<BT::ControlNode*>(node))

{

for(const auto& child : control->children())

{

applyRecursiveVisitor(child, visitor);

}

}

else if(auto decorator = dynamic_cast<BT::DecoratorNode*>(node))

{

if(decorator->child() != nullptr)

{

applyRecursiveVisitor(decorator->child(), visitor);

}

}

{

std::function<void(unsigned, const BT::TreeNode*)> recursivePrint;

recursivePrint = [&recursivePrint, &stream](unsigned indent, const BT::TreeNode* node) {

for(unsigned i = 0; i < indent; i++)

{

stream << " ";

}

if(node == nullptr)

{

stream << "!nullptr!" << std::endl;

return;

}

stream << node->name() << std::endl;

indent++;

if(auto control = dynamic_cast<const BT::ControlNode*>(node))

{

for(const auto& child : control->children())

{

recursivePrint(indent, child);

}

}

else if(auto decorator = dynamic_cast<const BT::DecoratorNode*>(node))

{

recursivePrint(indent, decorator->child());

}

};

stream << "----------------" << std::endl;

recursivePrint(0, root_node);

stream << "----------------" << std::endl;

SerializedTreeStatus& serialized_buffer)

{

serialized_buffer.clear();

auto visitor = [&serialized_buffer](const TreeNode* node) {

serialized_buffer.push_back(

std::make_pair(node->UID(), static_cast<uint8_t>(node->status())));

};

applyRecursiveVisitor(root_node, visitor);

{

static int number = -1;

if(number == -1)

{

auto const parts = splitString(BTCPP_LIBRARY_VERSION, '.');

number = std::stoi(std::string(parts[0])) * 10000 +

std::stoi(std::string(parts[1])) * 100 + std::stoi(std::string(parts[2]));

}

return number;