More advanced blackboard

[arvidsson]

Make blackboard use a Type class that encapsulates whatever we need and which can also be extended by anyone.

[ptiza-v-nebe]

It will maybe cool to implement similiar solutions for BlackBoard from BehaviorTree.CPP as they are already more advanced in this question.

From their wiki: A Blackboard is a key/value storage shared by all the Nodes of a Tree.

It will be nice to share the blackboard on every node in the tree. Maybe simple pointer to the tree on every node is enough?

[arvidsson]

There is already a shared blackboard for each behaviour tree, which can be passed to every leaf.

But yes, I was thinking of something similar for the blackboard when it comes to being able to store any value and not only predefined ones.

[ptiza-v-nebe]

How the blackboard is actually passed to every leaf? I see the pointer to blackboard on the Leaf Class but how would you normally do it? Is the tree somehow traversed and automatically passes some global blackboard? Or should I just pass on every leaf some instance of blackboard? How this passing does then work with the tree builders?

[arvidsson]

When you create the leaf you pass the blackboard which exists within the behaviour tree. But you are correct that the current implementation of the tree builder does not support this in an easy way which should be improved.

[wataniguchi]

How about the code below?
I have also corrected the behavior of stateful composites.

BrainTree.h.diff.txt