Hi Davide,

I currently have some legacy code which I want to use together with BehaviorTree, one of them is a class which provides some methods that I want to wrap into the action nodes. However, these member functions take some input parameters.

From my understanding, if I did not use the inheritance, I could not use parameters, right? If I use inheritance, it seems there is only one action can be defined by each class. Is this correct?
Is there a way to define multiple actions for one class, as well as using node or blackboard parameters?

Best Regards,

Xin