set_blackboard_node.h
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1 /* Copyright (C) 2018 Davide Faconti - All Rights Reserved
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11 */
12 
13 #ifndef ACTION_SETBLACKBOARD_NODE_H
14 #define ACTION_SETBLACKBOARD_NODE_H
15 
17 
18 namespace BT
19 {
21 {
22  public:
23  SetBlackboard(const std::string& name, const NodeParameters& params)
24  : SyncActionNode(name, params)
25  {
26  }
27 
29  {
30  static NodeParameters params = {{"key", ""}, {"value", ""}};
31  return params;
32  }
33 
34  private:
35  virtual BT::NodeStatus tick() override
36  {
37  std::string key;
38  if (!blackboard() || !getParam("key", key) || key.empty())
39  {
40  return NodeStatus::FAILURE;
41  }
42  else
43  {
44  std::string value;
45  getParam("value", value);
46  blackboard()->set(key, value);
47  return NodeStatus::SUCCESS;
48  }
49  }
50 };
51 }
52 
53 #endif
BT::optional< T > getParam(const std::string &key) const
Definition: tree_node.h:117
const std::string & name() const
Definition: tree_node.cpp:92
const Blackboard::Ptr & blackboard() const
Definition: tree_node.cpp:64
static const NodeParameters & requiredNodeParameters()
SetBlackboard(const std::string &name, const NodeParameters &params)
The SyncActionNode is an helper derived class that explicitly forbids the status RUNNING and doesn&#39;t ...
Definition: action_node.h:50
virtual BT::NodeStatus tick() override
Method to be implemented by the user.
std::unordered_map< std::string, std::string > NodeParameters
Definition: tree_node.h:33
NodeStatus
Definition: basic_types.h:28


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sun Feb 3 2019 03:14:32