action_definition.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ACTION_DEFINITION_H_ 00038 #define ACTION_DEFINITION_H_ 00039 //A macro that will generate helpful typedefs for action client, server, and policy implementers 00040 namespace actionlib { 00041 #define ACTION_DEFINITION(ActionSpec) \ 00042 typedef typename ActionSpec::_action_goal_type ActionGoal; \ 00043 typedef typename ActionGoal::_goal_type Goal; \ 00044 typedef typename ActionSpec::_action_result_type ActionResult; \ 00045 typedef typename ActionResult::_result_type Result; \ 00046 typedef typename ActionSpec::_action_feedback_type ActionFeedback; \ 00047 typedef typename ActionFeedback::_feedback_type Feedback; \ 00048 \ 00049 typedef boost::shared_ptr<const ActionGoal> ActionGoalConstPtr; \ 00050 typedef boost::shared_ptr<ActionGoal> ActionGoalPtr; \ 00051 typedef boost::shared_ptr<const Goal> GoalConstPtr;\ 00052 \ 00053 typedef boost::shared_ptr<const ActionResult> ActionResultConstPtr; \ 00054 typedef boost::shared_ptr<const Result> ResultConstPtr;\ 00055 \ 00056 typedef boost::shared_ptr<const ActionFeedback> ActionFeedbackConstPtr; \ 00057 typedef boost::shared_ptr<const Feedback> FeedbackConstPtr; 00058 }; 00059 #endif 00060