method added to BlackBoard

Author: facontidavide

include/behaviortree_cpp/blackboard/blackboard.h

@@ -25,6 +25,7 @@ class BlackboardImpl
 
     virtual const SafeAny::Any* get(const std::string& key) const = 0;
     virtual void set(const std::string& key, const SafeAny::Any& value) = 0;
+    virtual bool contains(const std::string& key) const = 0;
 };
 
 // This is the "frontend" to be used by the developer.
@@ -107,6 +108,11 @@ class Blackboard
         }
     }
 
+    bool contains(const std::string& key) const
+    {
+        return (impl_ && impl_->contains(key));
+    }
+
   private:
     std::unique_ptr<BlackboardImpl> impl_;
 };

include/behaviortree_cpp/blackboard/blackboard_local.h

@@ -27,6 +27,11 @@ class BlackboardLocal : public BlackboardImpl
         storage_[key] = value;
     }
 
+    virtual bool contains(const std::string& key) const override
+    {
+        return storage_.find(key) != storage_.end();
+    }
+
   private:
     std::unordered_map<std::string, SafeAny::Any> storage_;
 };