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Allow BT::AnyTypeAllowed as port type and setOuput using BT::Any #894

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Allow BT::AnyTypeAllowed as port type and setOuput using BT::Any #894

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8 changes: 5 additions & 3 deletions include/behaviortree_cpp/tree_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -585,10 +585,12 @@ inline Result TreeNode::setOutput(const std::string& key, const T& value)

if constexpr(std::is_same_v<BT::Any, T>)
{
if(config().manifest->ports.at(key).type() != typeid(BT::Any))
const std::type_index type = config().manifest->ports.at(key).type();
if(type != typeid(BT::Any) && type != typeid(BT::AnyTypeAllowed))
{
throw LogicError("setOutput<Any> is not allowed, unless the port "
"was declared using OutputPort<Any>");
throw LogicError("setOutput<BT::Any> is not allowed, unless the port "
"was declared using OutputPort<BT::Any> or "
"OutputPort<BT::AnyTypeAllowed>");
}
}

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