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 {};
 }