Revert "Copied chooser definition"

This reverts commit a3904a4.

Author: fjulian

py_trees/composites.py

@@ -699,74 +699,3 @@ def validate_policy_configuration(self):
                                  "not children of this parallel {}[{}]""".format(missing_children_names, self.name))
                 self.logger.error(error_message)
                 raise RuntimeError(error_message)
-
-##############################################################################
-# Chooser with Memory
-##############################################################################
-
-class ChooserWithMemory(Selector):
-    """
-    Choosers are Selectors with Commitment
-
-    .. graphviz:: dot/chooser.dot
-
-    A variant of the selector class. Once a child is selected, it
-    cannot be interrupted by higher priority siblings. As soon as the chosen child
-    itself has finished it frees the chooser for an alternative selection. i.e. priorities
-    only come into effect if the chooser wasn't running in the previous tick.
-
-    .. note::
-        This is the only composite in py_trees that is not a core composite in most behaviour tree implementations.
-        Nonetheless, this is useful in fields like robotics, where you have to ensure that your manipulator doesn't
-        drop it's payload mid-motion as soon as a higher interrupt arrives. Use this composite
-        sparingly and only if you can't find another way to easily create an elegant tree composition for your task.
-
-    Args:
-        name (:obj:`str`): the composite behaviour name
-        children ([:class:`~py_trees.behaviour.Behaviour`]): list of children to add
-    """
-
-    def __init__(self, name="Chooser", children=None):
-        super(ChooserWithMemory, self).__init__(name, children)
-
-    def tick(self):
-        """
-        Run the tick behaviour for this chooser. Note that the status
-        of the tick is (for now) always determined by its children, not
-        by the user customised update function.
-
-        Yields:
-            :class:`~py_trees.behaviour.Behaviour`: a reference to itself or one of its children
-        """
-        self.logger.debug("%s.tick()" % self.__class__.__name__)
-        # Required behaviour for *all* behaviours and composites is
-        # for tick() to check if it isn't running and initialise
-        if self.status != Status.RUNNING:
-            # chooser specific initialisation
-            # invalidate everything
-            for child in self.children:
-                child.stop(Status.INVALID)
-            self.current_child = None
-            # run subclass (user) initialisation
-            self.initialise()
-        # run any work designated by a customised instance of this class
-        self.update()
-        if self.current_child is not None:
-            # run our child, and invalidate anyone else who may have been ticked last run
-            # (bit wasteful always checking for the latter)
-            for child in self.children:
-                if child is self.current_child:
-                    for node in self.current_child.tick():
-                        yield node
-                elif child.status != Status.INVALID:
-                    child.stop(Status.INVALID)
-        else:
-            for child in self.children:
-                for node in child.tick():
-                    yield node
-                if child.status == Status.RUNNING or child.status == Status.SUCCESS:
-                    self.current_child = child
-                    break
-        new_status = self.current_child.status if self.current_child is not None else Status.FAILURE
-        self.stop(new_status)
-        yield self