Template Function BT::getInputPortOrBlackboard

Defined in File bt_utils.hpp

Function Documentation

template<typename T> inline bool BT::getInputPortOrBlackboard(const BT::TreeNode &bt_node, const BT::Blackboard &blackboard, const std::string &param_name, T &value)

Try reading an import port first, and if that doesn’t work fallback to reading directly the blackboard. The blackboard must be passed explitly because config() is private in BT.CPP 4.X.

Parameters:

bt_node – node
blackboard – the blackboard ovtained with node->config().blackboard
param_name – std::string
behavior_tree_node – the node

Returns:

<T>