BT::Blackboard Class Reference

The Blackboard is the mechanism used by BehaviorTrees to exchange typed data. More...

#include <blackboard.h>

Classes
struct	Entry

Public Types
using	Ptr = std::shared_ptr< Blackboard >

Public Member Functions
	Blackboard (const Blackboard &)=delete
Blackboard &	operator= (const Blackboard &)=delete
	Blackboard (Blackboard &&)=delete
Blackboard &	operator= (Blackboard &&)=delete
void	enableAutoRemapping (bool remapping)
const std::shared_ptr< Entry >	getEntry (const std::string &key) const
std::shared_ptr< Blackboard::Entry >	getEntry (const std::string &key)
AnyPtrLocked	getAnyLocked (const std::string &key)
AnyPtrLocked	getAnyLocked (const std::string &key) const
const Any *	getAny (const std::string &key) const
Any *	getAny (const std::string &key)
template<typename T >
bool	get (const std::string &key, T &value) const
template<typename T >
Expected< Timestamp >	getStamped (const std::string &key, T &value) const
template<typename T >
T	get (const std::string &key) const
template<typename T >
Expected< StampedValue< T > >	getStamped (const std::string &key) const
template<typename T >
void	set (const std::string &key, const T &value)
	Update the entry with the given key.
void	unset (const std::string &key)
const TypeInfo *	entryInfo (const std::string &key)
void	addSubtreeRemapping (StringView internal, StringView external)
void	debugMessage () const
std::vector< StringView >	getKeys () const
void	clear ()
void	createEntry (const std::string &key, const TypeInfo &info)
void	cloneInto (Blackboard &dst) const
	cloneInto copies the values of the entries into another blackboard. Known limitations:
Blackboard::Ptr	parent ()
Blackboard *	rootBlackboard ()
const Blackboard *	rootBlackboard () const
void	setPolymorphicCastRegistry (std::shared_ptr< PolymorphicCastRegistry > registry)
	Set the polymorphic cast registry for this blackboard.
const PolymorphicCastRegistry *	polymorphicCastRegistry () const
	Get the polymorphic cast registry (may be null).
template<typename T >
Expected< T >	tryCastWithPolymorphicFallback (const Any *any) const
	Cast Any value with polymorphic fallback for shared_ptr types.

Static Public Member Functions
static Blackboard::Ptr	create (Blackboard::Ptr parent={})

Protected Member Functions
	Blackboard (Blackboard::Ptr parent)

Detailed Description

The Blackboard is the mechanism used by BehaviorTrees to exchange typed data.

Member Function Documentation

cloneInto()

void BT::Blackboard::cloneInto

(

Blackboard &

dst

)

const

cloneInto copies the values of the entries into another blackboard. Known limitations:

• it doesn't update the remapping in dst
• it doesn't change the parent blackboard os dst

Parameters

dst	destination, i.e. blackboard to be updated

create()

static Blackboard::Ptr BT::Blackboard::create ( Blackboard::Ptr  parent = {} )

inlinestatic

Use this static method to create an instance of the BlackBoard to share among all your NodeTrees.

get() [1/2]

template<typename T >

T BT::Blackboard::get ( const std::string &  key ) const

inline

Version of get() that throws if it fails.

get() [2/2]

template<typename T >

bool BT::Blackboard::get ( const std::string &  key, T &  value  ) const

inline

Return true if the entry with the given key was found. Note that this method may throw an exception if the cast to T failed.

setPolymorphicCastRegistry()

void BT::Blackboard::setPolymorphicCastRegistry ( std::shared_ptr< PolymorphicCastRegistry >  registry )

inline

Set the polymorphic cast registry for this blackboard.

The registry enables polymorphic shared_ptr conversions during get(). This is typically set automatically when creating trees via BehaviorTreeFactory.

tryCastWithPolymorphicFallback()

template<typename T >

Expected< T > BT::Blackboard::tryCastWithPolymorphicFallback ( const Any *  any ) const

inline

Cast Any value with polymorphic fallback for shared_ptr types.

First attempts a direct cast. If that fails and T is a shared_ptr type, tries a polymorphic cast via the registry. Returns Expected with error on failure.

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The documentation for this class was generated from the following file:

• include/behaviortree_cpp/blackboard.h