object_manipulator::MultiArmActionWrapper< ActionDataType > Class Template Reference

A wrapper for multiple instances of a given action, one for each arm in the system. More...

#include <service_action_wrappers.h>

Public Member Functions
actionlib::SimpleActionClient < ActionDataType > &	client (std::string arm_name, ros::Duration timeout=ros::Duration(5.0))
	Returns a action client for the requested arm.
	MultiArmActionWrapper (std::string prefix, std::string suffix, bool param, bool resolve_names)
	Sets the node handle, prefix and suffix.
	~MultiArmActionWrapper ()
Private Types
typedef std::map< std::string, actionlib::SimpleActionClient < ActionDataType > * >	map_type
Private Attributes
map_type	clients_
	The list of clients already created, mapped to action names.
ros::NodeHandle	nh_
	The node handle used to create actions.
bool	param_
	Parameter to be passed on to the action client.
std::string	prefix_
	Prefix attached to arm name to get action name.
bool	resolve_names_
	Whether the resulting name should first be resolved using the node handle.
std::string	suffix_
	Suffix attached to arm name to get action name.

Detailed Description

template<class ActionDataType>
class object_manipulator::MultiArmActionWrapper< ActionDataType >

A wrapper for multiple instances of a given action, one for each arm in the system.

This function performs mapping from an arm_name to a action for that arm.

It obtains the name of the action by adding a prefix and/or suffix to the name of the arm.

For each arm, it also performs "wait on first use". When the action for a given arm name is first requested, it will wait for the action, then create the client and return it. It will also remember the client, so that on subsequent calls the client is returned directly without additional waiting.

Definition at line 228 of file service_action_wrappers.h.

Member Typedef Documentation

template<class ActionDataType>

typedef std::map<std::string, actionlib::SimpleActionClient<ActionDataType>* > object_manipulator::MultiArmActionWrapper< ActionDataType >::map_type [private]

It seems the SimpleActionClient is non-copyable, so I could not store them directly in the map.

Definition at line 244 of file service_action_wrappers.h.

Constructor & Destructor Documentation

template<class ActionDataType>

object_manipulator::MultiArmActionWrapper< ActionDataType >::MultiArmActionWrapper	(	std::string	prefix,
		std::string	suffix,
		bool	param,
		bool	resolve_names
	)			`[inline]`

Sets the node handle, prefix and suffix.

Definition at line 255 of file service_action_wrappers.h.

template<class ActionDataType>

object_manipulator::MultiArmActionWrapper< ActionDataType >::~MultiArmActionWrapper ( ) [inline]

Definition at line 259 of file service_action_wrappers.h.

Member Function Documentation

template<class ActionDataType>

actionlib::SimpleActionClient<ActionDataType>& object_manipulator::MultiArmActionWrapper< ActionDataType >::client	(	std::string	arm_name,
		ros::Duration	timeout = `ros::Duration(5.0)`
	)			`[inline]`

Returns a action client for the requested arm.

Action name is obtained as prefix + arm_name + suffix. On first request for a given arm, a action client will be initialized, and the action will be waited for. On subsequent calls for the same arm, the action is returned directly.

Definition at line 272 of file service_action_wrappers.h.