service_client.h
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35 * Author: Eitan Marder-Eppstein
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37 
38 #ifndef ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
39 #define ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
40 
43 
44 #include <string>
45 
46 namespace actionlib
47 {
48 
49 class ServiceClientImp
50 {
51 public:
52  ServiceClientImp() {}
53  virtual bool call(const void * goal, std::string goal_md5sum, void * result,
54  std::string result_md5sum) = 0;
55  virtual bool waitForServer(const ros::Duration & timeout) = 0;
56  virtual bool isServerConnected() = 0;
57  virtual ~ServiceClientImp() {}
58 };
59 
60 class ServiceClient
61 {
62 public:
64  : client_(client) {}
65 
66  template<class Goal, class Result>
67  bool call(const Goal & goal, Result & result);
68 
69  bool waitForServer(const ros::Duration & timeout = ros::Duration(0, 0));
70  bool isServerConnected();
71 
72 private:
74 };
75 
76 template<class ActionSpec>
77 ServiceClient serviceClient(ros::NodeHandle n, std::string name);
78 
79 template<class ActionSpec>
80 class ServiceClientImpT : public ServiceClientImp
81 {
82 public:
83  ACTION_DEFINITION(ActionSpec)
84  typedef ClientGoalHandle<ActionSpec> GoalHandleT;
85  typedef SimpleActionClient<ActionSpec> SimpleActionClientT;
86 
87  ServiceClientImpT(ros::NodeHandle n, std::string name);
88 
89  bool call(const void * goal, std::string goal_md5sum, void * result, std::string result_md5sum);
90  bool waitForServer(const ros::Duration & timeout);
91  bool isServerConnected();
92 
93 private:
94  boost::scoped_ptr<SimpleActionClientT> ac_;
95 };
96 } // namespace actionlib
97 
98 // include the implementation
99 #include <actionlib/client/service_client_imp.h>
100 #endif // ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
actionlib::ServiceClient::ServiceClient
ServiceClient(boost::shared_ptr< ServiceClientImp > client)
Definition: service_client.h:98
actionlib::ServiceClientImpT::waitForServer
bool waitForServer(const ros::Duration &timeout)
Definition: service_client_imp.h:88
boost::shared_ptr
ACTION_DEFINITION
#define ACTION_DEFINITION(ActionSpec)
Definition: action_definition.h:77
actionlib::ServiceClient::call
bool call(const Goal &goal, Result &result)
Definition: service_client_imp.h:134
ros
actionlib::serviceClient
ServiceClient serviceClient(ros::NodeHandle n, std::string name)
Definition: service_client_imp.h:152
actionlib::ServiceClientImp::isServerConnected
virtual bool isServerConnected()=0
boost
actionlib::ServiceClientImpT::GoalHandleT
ClientGoalHandle< ActionSpec > GoalHandleT
Definition: service_client.h:119
actionlib::ServiceClientImp::ServiceClientImp
ServiceClientImp()
Definition: service_client.h:122
actionlib::ServiceClient::isServerConnected
bool isServerConnected()
Definition: service_client_imp.h:145
actionlib::ServiceClientImpT
Definition: service_client.h:115
actionlib::SimpleActionClient
A Simple client implementation of the ActionInterface which supports only one goal at a time.
Definition: simple_action_client.h:72
actionlib::ServiceClientImpT::isServerConnected
bool isServerConnected()
Definition: service_client_imp.h:94
action_definition.h
actionlib::ServiceClientImp::call
virtual bool call(const void *goal, std::string goal_md5sum, void *result, std::string result_md5sum)=0
actionlib::ServiceClientImp::~ServiceClientImp
virtual ~ServiceClientImp()
Definition: service_client.h:127
actionlib::ServiceClientImp::waitForServer
virtual bool waitForServer(const ros::Duration &timeout)=0
actionlib::ServiceClient::waitForServer
bool waitForServer(const ros::Duration &timeout=ros::Duration(0, 0))
Definition: service_client_imp.h:140
std
actionlib
Definition: action_definition.h:40
actionlib::ServiceClient::client_
boost::shared_ptr< ServiceClientImp > client_
Definition: service_client.h:108
actionlib::ClientGoalHandle
Client side handle to monitor goal progress.
Definition: client_helpers.h:96
simple_action_client.h
actionlib::ServiceClientImpT::SimpleActionClientT
SimpleActionClient< ActionSpec > SimpleActionClientT
Definition: service_client.h:120
actionlib::ServiceClientImpT::ac_
boost::scoped_ptr< SimpleActionClientT > ac_
Definition: service_client.h:129
ros::Duration
actionlib::ServiceClientImpT::call
bool call(const void *goal, std::string goal_md5sum, void *result, std::string result_md5sum)
Definition: service_client_imp.h:100
ros::NodeHandle


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Fri May 19 2023 02:36:55