bugfix: typo in code (BehaviorTree#460)

Those fixes should not affect actual use.

Author: SubaruArai

include/behaviortree_cpp/controls/manual_node.h

@@ -43,7 +43,7 @@ class ManualSelectorNode : public ControlNode
   int running_child_idx_;
   int previously_executed_idx_;
 
-  enum NumericarStatus
+  enum NumericalStatus
   {
     NUM_SUCCESS = 253,
     NUM_FAILURE = 254,

include/behaviortree_cpp/controls/parallel_node.h

@@ -47,10 +47,10 @@ class ParallelNode : public ControlNode
   static PortsList providedPorts()
   {
     return {InputPort<int>(THRESHOLD_SUCCESS, -1,
-                           "number of childen which need to succeed to trigger a "
+                           "number of children which need to succeed to trigger a "
                            "SUCCESS"),
             InputPort<int>(THRESHOLD_FAILURE, 1,
-                           "number of childen which need to fail to trigger a FAILURE")};
+                           "number of children which need to fail to trigger a FAILURE")};
   }
 
   ~ParallelNode() override = default;

include/behaviortree_cpp/decorators/repeat_node.h

@@ -43,7 +43,7 @@ class RepeatNode : public DecoratorNode
 
   static PortsList providedPorts()
   {
-    return {InputPort<int>(NUM_CYCLES, "Repeat a succesful child up to N times. "
+    return {InputPort<int>(NUM_CYCLES, "Repeat a successful child up to N times. "
                                        "Use -1 to create an infinite loop.")};
   }
 

src/bt_factory.cpp

@@ -261,12 +261,12 @@ std::unique_ptr<TreeNode> BehaviorTreeFactory::instantiateTreeNode(
   node->setRegistrationID(ID);
   node->config_.enums = scripting_enums_;
 
-  auto AssignConditions = [](auto& conditions, auto& excutors) {
+  auto AssignConditions = [](auto& conditions, auto& executors) {
     for (const auto& [cond_id, script] : conditions)
     {
       if (auto executor = ParseScript(script))
       {
-        excutors[size_t(cond_id)] = executor.value();
+        executors[size_t(cond_id)] = executor.value();
       }
       else
       {

src/controls/manual_node.cpp

@@ -91,7 +91,7 @@ NodeStatus ManualSelectorNode::selectStatus() const
   win = newwin(6, 70, 1, 1);   // create a new window
 
   mvwprintw(win, 0, 0, "No children.");
-  mvwprintw(win, 1, 0, "Press: S to return SUCCESFULL,");
+  mvwprintw(win, 1, 0, "Press: S to return SUCCESSFUL,");
   mvwprintw(win, 2, 0, "       F to return FAILURE, or");
   mvwprintw(win, 3, 0, "       R to return RUNNING.");
 
@@ -152,7 +152,7 @@ uint8_t ManualSelectorNode::selectChild() const
   win = newwin(children_count + 6, 70, 1, 1);   // create a new window
 
   mvwprintw(win, 0, 0, "Use UP/DOWN arrow to select the child, Enter to confirm.");
-  mvwprintw(win, 1, 0, "Press: S to skip and return SUCCESFULL,");
+  mvwprintw(win, 1, 0, "Press: S to skip and return SUCCESSFUL,");
   mvwprintw(win, 2, 0, "       F to skip and return FAILURE, or");
   mvwprintw(win, 3, 0, "       R to skip and return RUNNING.");
 

src/controls/parallel_node.cpp

@@ -52,8 +52,8 @@ NodeStatus ParallelNode::tick()
     }
   }
 
-  size_t success_childred_num = 0;
-  size_t failure_childred_num = 0;
+  size_t success_children_num = 0;
+  size_t failure_children_num = 0;
 
   const size_t children_count = children_nodes_.size();
 
@@ -88,9 +88,9 @@ NodeStatus ParallelNode::tick()
     {
       case NodeStatus::SUCCESS: {
         skip_list_.insert(i);
-        success_childred_num++;
+        success_children_num++;
 
-        if (success_childred_num == successThreshold())
+        if (success_children_num == successThreshold())
         {
           skip_list_.clear();
           haltChildren();
@@ -101,12 +101,12 @@ NodeStatus ParallelNode::tick()
 
       case NodeStatus::FAILURE: {
         skip_list_.insert(i);
-        failure_childred_num++;
+        failure_children_num++;
 
         // It fails if it is not possible to succeed anymore or if
         // number of failures are equal to failure_threshold_
-        if ((failure_childred_num > children_count - successThreshold()) ||
-            (failure_childred_num == failureThreshold()))
+        if ((failure_children_num > children_count - successThreshold()) ||
+            (failure_children_num == failureThreshold()))
         {
           skip_list_.clear();
           haltChildren();

tests/gtest_ports.cpp

@@ -62,7 +62,7 @@ TEST(PortTest, Descriptions)
             </Sequence>
         </BehaviorTree>
 
-        <BehaviorTree ID="SubTree" _description="this is a subtre" >
+        <BehaviorTree ID="SubTree" _description="this is a subtree" >
             <NodeWithPorts name="third" in_port_B="99" />
         </BehaviorTree>