Convert vector to vector<Any> before placing on the blackboard

BehaviorTree · Oct 3, 2024 · 3e23456 · 3e23456
1 parent e3b0cd7
commit 3e23456
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Showing 2 changed files with 19 additions and 2 deletions.
diff --git a/include/behaviortree_cpp/blackboard.h b/include/behaviortree_cpp/blackboard.h
@@ -257,8 +257,13 @@ inline void Blackboard::set(const std::string& key, const T& value)
 
  std::type_index previous_type = entry.info.type();
 
+ // Allow mismatch if going from vector -> vector<Any>.
+ bool previous_is_vector = std::string(previous_type.name()).find("vector") != std::string::npos;
+ bool new_is_vector_any = new_value.type() == typeid(std::vector<Any>);
+
  // check type mismatch
- if(previous_type != std::type_index(typeid(T)) && previous_type != new_value.type())
+ if(previous_type != std::type_index(typeid(T)) && previous_type != new_value.type() &&
+ !(previous_is_vector && new_is_vector_any))
  {
  bool mismatching = true;
  if(std::is_constructible<StringView, T>::value)

diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -619,7 +619,19 @@ inline Result TreeNode::setOutput(const std::string& key, const T& value)
  }
 
  remapped_key = stripBlackboardPointer(remapped_key);
- config().blackboard->set(static_cast<std::string>(remapped_key), value);
+
+ if constexpr(is_vector<T>::value && !std::is_same_v<T, std::vector<Any>>)
+ {
+ // If the object is a vector but not a vector<Any>, convert it to vector<Any> before placing it on the blackboard.
+ auto any_vec = std::vector<Any>();
+ std::transform(value.begin(), value.end(), std::back_inserter(any_vec),
+ [](auto &element) { return BT::Any(element); });
+ config().blackboard->set(static_cast<std::string>(remapped_key), any_vec);
+ }
+ else
+ {
+ config().blackboard->set(static_cast<std::string>(remapped_key), value);
+ }
 
  return {};
 }