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Hi,
It seems there's an issue with the BlackboardPreconditionNode decorator, or it may be a misunderstanding on my part on how it's supposed to work. Setting the "expected" field with the wildcard value "*" throws a std::invalid_argument from std::stod. I went ahead and check what's going on, and the problem seems to come from how the checks are arranged in the tick() function of the decorator:
if (blackboard() && //blackboard not null
getParam("key", key) && // parameter key provided
getParam("expected", expected) && // parameter expected provided
blackboard()->get(key, value) && // value found in blackboard
(value == expected ||
initializationParameters().at("expected") == "*")) // is expected value or "*"
{
return child_node_->executeTick();
}
else
{
return NodeStatus::FAILURE;
}
The getParam("expected", expected) gets called even if the value is "*" and it ends up calling convertFromString<double>("*") in tree_node.h.
Rearranging the conditions a bit fixes this. Something like this:
if (blackboard() && getParam("key", key) && blackboard()->get(key, value))
{
if (initializationParameters().at("expected") == "*" || (getParam("expected", expected) && value == expected))
{
return child_node_->executeTick();
}
}
return NodeStatus::FAILURE;
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