better check related to parameters

Author: Davide Faconti

src/controls/parallel_node.cpp

@@ -34,7 +34,7 @@ ParallelNode::ParallelNode(const std::string &name,
     {
         throw std::runtime_error("Missing parameter [threshold] in ParallelNode");
     }
-    refresh_parameter_ = isBlackboardPattern( params.begin()->second );
+    refresh_parameter_ = isBlackboardPattern( params.at(THRESHOLD_KEY) );
   }
 
 NodeStatus ParallelNode::tick()

src/controls/sequence_star_node.cpp

@@ -34,7 +34,7 @@ SequenceStarNode::SequenceStarNode(const std::string& name, const NodeParameters
     {
         throw std::runtime_error("Missing parameter [reset_on_failure] in SequenceStarNode");
     }
-    refresh_parameter_ = isBlackboardPattern( params.begin()->second );
+    refresh_parameter_ = isBlackboardPattern( params.at(RESET_PARAM) );
 }
 
 NodeStatus SequenceStarNode::tick()

src/decorators/repeat_node.cpp

@@ -34,7 +34,7 @@ RepeatNode::RepeatNode(const std::string& name, const NodeParameters& params)
     {
         throw std::runtime_error("Missing parameter [num_cycles] in RepeatNode");
     }
-    refresh_parameter_ = isBlackboardPattern( params.begin()->second );
+    refresh_parameter_ = isBlackboardPattern( params.at(NUM_CYCLES) );
 }
 
 NodeStatus RepeatNode::tick()

src/decorators/retry_node.cpp

@@ -34,7 +34,7 @@ RetryNode::RetryNode(const std::string& name, const NodeParameters& params)
     {
         throw std::runtime_error("Missing parameter [num_attempts] in RetryNode");
     }
-    refresh_parameter_ = isBlackboardPattern( params.begin()->second );
+    refresh_parameter_ = isBlackboardPattern( params.at(NUM_ATTEMPTS) );
 }
 
 NodeStatus RetryNode::tick()