bt1::Status bt1::ActionFindPathAndGo<Subject>::update()

template<class Subject>
bt1::Status bt1::ActionFindPathAndGo<Subject>::update()
{
    if (BB->GetGameWorldTankSearching())
    {
        return bt1::BH_RUNNING;
    }

    sf::Vector2f goal = BB->GetGameWorldTilePosition(BB->GetGoalPosition());
    sf::Vector2f start = BB->GetGameWorldTilePosition(BB->GetGameWorldTankPosition());
    bool succeed = BB->GameWorldPathObjectFindPath(start, goal);
    if (succeed == true)
    {
        std::cout << "Agent: " << BB->GetGameWorldTankID() << " Reporting to have found a path" << std::endl;
        BB->SetGameWorldTankSearching(true);
        for (int i = BB->GameWorldPathObjectPathListSize() - 1; i > -1; i--)
        {
            sf::Vector2f position = BB->GetGameWorldPathObjectPathListIndexPosition(i);
            BB->GameWorldTankPathAttach(position);
        }
        return bt1::BH_SUCCESS;
    }
    return bt1::BH_FAILURE;
}