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
typedef std::shared_ptr< Blackboard >	Ptr

Public Member Functions
void	addSubtreeRemapping (StringView internal, StringView external)
void	clear ()
void	createEntry (const std::string &key, const PortInfo &info)
void	debugMessage () const
void	enableAutoRemapping (bool remapping)
std::mutex &	entryMutex ()
template<typename T >
bool	get (const std::string &key, T &value) const
template<typename T >
T	get (const std::string &key) const
const Any *	getAny (const std::string &key) const
	The method getAny allow the user to access directly the type erased value. More...
Any *	getAny (const std::string &key)
std::vector< StringView >	getKeys () const
const PortInfo *	portInfo (const std::string &key)
template<typename T >
void	set (const std::string &key, const T &value)
	Update the entry with the given key. More...
virtual	~Blackboard ()=default

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

Protected Member Functions
	Blackboard (Blackboard::Ptr parent)

Private Member Functions
std::shared_ptr< Entry >	createEntryImpl (const std::string &key, const PortInfo &info)

Private Attributes
bool	autoremapping_ = false
std::mutex	entry_mutex_
std::unordered_map< std::string, std::string >	internal_to_external_
std::mutex	mutex_
std::weak_ptr< Blackboard >	parent_bb_
std::unordered_map< std::string, std::shared_ptr< Entry > >	storage_

Detailed Description

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

Definition at line 22 of file blackboard.h.

Member Typedef Documentation

Ptr

typedef std::shared_ptr<Blackboard> BT::Blackboard::Ptr

Definition at line 25 of file blackboard.h.

Constructor & Destructor Documentation

Blackboard()

BT::Blackboard::Blackboard ( Blackboard::Ptr  parent )

inlineprotected

Definition at line 29 of file blackboard.h.

~Blackboard()

virtual BT::Blackboard::~Blackboard ( )

virtualdefault

Member Function Documentation

addSubtreeRemapping()

void BT::Blackboard::addSubtreeRemapping	(	StringView	internal,
		StringView	external
	)

Definition at line 18 of file blackboard.cpp.

clear()

void BT::Blackboard::clear ( )

inline

Definition at line 172 of file blackboard.h.

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.

Definition at line 36 of file blackboard.h.

createEntry()

void BT::Blackboard::createEntry ( const std::string &  key, const PortInfo &  info  )

inline

Definition at line 186 of file blackboard.h.

createEntryImpl()

std::shared_ptr< Blackboard::Entry > BT::Blackboard::createEntryImpl ( const std::string &  key, const PortInfo &  info  )

private

Definition at line 68 of file blackboard.cpp.

debugMessage()

void BT::Blackboard::debugMessage

(

)

const

Definition at line 24 of file blackboard.cpp.

enableAutoRemapping()

void BT::Blackboard::enableAutoRemapping

(

bool

remapping

)

Definition at line 5 of file blackboard.cpp.

entryMutex()

std::mutex& BT::Blackboard::entryMutex ( )

inline

Definition at line 181 of file blackboard.h.

get() [1/2]

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.

Definition at line 81 of file blackboard.h.

get() [2/2]

template<typename T >

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

inline

Version of get() that throws if it fails.

Definition at line 95 of file blackboard.h.

getAny() [1/2]

const Any* BT::Blackboard::getAny ( const std::string &  key ) const

inline

The method getAny allow the user to access directly the type erased value.

Returns

the pointer or nullptr if it fails.

Definition at line 51 of file blackboard.h.

getAny() [2/2]

Any* BT::Blackboard::getAny ( const std::string &  key )

inline

Definition at line 70 of file blackboard.h.

getKeys()

std::vector< StringView > BT::Blackboard::getKeys

(

)

const

Definition at line 52 of file blackboard.cpp.

portInfo()

const PortInfo * BT::Blackboard::portInfo

(

const std::string &

key

)

Definition at line 10 of file blackboard.cpp.

set()

template<typename T >

void BT::Blackboard::set ( const std::string &  key, const T &  value  )

inline

Update the entry with the given key.

Definition at line 110 of file blackboard.h.

Member Data Documentation

autoremapping_

bool BT::Blackboard::autoremapping_ = false

private

Definition at line 213 of file blackboard.h.

entry_mutex_

std::mutex BT::Blackboard::entry_mutex_

mutableprivate

Definition at line 208 of file blackboard.h.

internal_to_external_

std::unordered_map<std::string, std::string> BT::Blackboard::internal_to_external_

private

Definition at line 211 of file blackboard.h.

mutex_

std::mutex BT::Blackboard::mutex_

mutableprivate

Definition at line 207 of file blackboard.h.

parent_bb_

std::weak_ptr<Blackboard> BT::Blackboard::parent_bb_

private

Definition at line 210 of file blackboard.h.

storage_

std::unordered_map<std::string, std::shared_ptr<Entry> > BT::Blackboard::storage_

private

Definition at line 209 of file blackboard.h.

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

• blackboard.h
• blackboard.cpp