Fix issue introduced in the last commit

facontidavide · facontidavide · commit ab58236665e5 · 2018-12-20T10:21:57.000+01:00
diff --git a/gtest/navigation_test.cpp b/gtest/navigation_test.cpp
@@ -151,7 +151,7 @@ void TryDynamicCastPtr(Original* ptr, Casted*& destination)
 
 /****************TESTS START HERE***************************/
 
-TEST(Navigationtest, MoveBaseReocvery)
+TEST(Navigationtest, MoveBaseRecovery)
 {
     BehaviorTreeFactory factory;
 
diff --git a/include/behaviortree_cpp/bt_factory.h b/include/behaviortree_cpp/bt_factory.h
@@ -180,9 +180,23 @@ class BehaviorTreeFactory
     }
 
     template <typename T>
-    NodeBuilder getBuilderImpl(typename std::enable_if< has_params_constructor<T>::value >::type* = nullptr)
+    NodeBuilder getBuilderImpl(typename std::enable_if<has_default_constructor<T>::value && has_params_constructor<T>::value >::type* = nullptr)
     {
-        return [](const std::string& name, const NodeParameters& params)
+        return [this](const std::string& name, const NodeParameters& params)
+        {
+            // Special case. Use default constructor if parameters are empty
+            if( params.empty() && has_default_constructor<T>::value && getRequiredParamsImpl<T>().size()>0)
+            {
+                return std::unique_ptr<TreeNode>(new T(name));
+            }
+            return std::unique_ptr<TreeNode>(new T(name, params));
+        };
+    }
+
+    template <typename T>
+    NodeBuilder getBuilderImpl(typename std::enable_if<!has_default_constructor<T>::value && has_params_constructor<T>::value >::type* = nullptr)
+    {
+        return [this](const std::string& name, const NodeParameters& params)
         {
             return std::unique_ptr<TreeNode>(new T(name, params));
         };
diff --git a/include/behaviortree_cpp/controls/sequence_star_node.h b/include/behaviortree_cpp/controls/sequence_star_node.h
@@ -37,7 +37,7 @@ class SequenceStarNode : public ControlNode
   public:
     SequenceStarNode(const std::string& name, bool reset_on_failure = true);
 
-    // Reset policy passed by parameter [reset_policy]
+    // Reset policy passed by parameter [reset_on_failure]
     SequenceStarNode(const std::string& name, const NodeParameters& params);
 
     virtual ~SequenceStarNode() override = default;

Original file line number	Diff line number	Diff line change
`@@ -151,7 +151,7 @@ void TryDynamicCastPtr(Original* ptr, Casted*& destination)`
`151`	`151`
`152`	`152`	`/**************TESTS START HERE*************************/`
`153`	`153`
`154`		`-TEST(Navigationtest, MoveBaseReocvery)`
	`154`	`+TEST(Navigationtest, MoveBaseRecovery)`
`155`	`155`	`{`
`156`	`156`	`BehaviorTreeFactory factory;`
`157`	`157`