status_tracker_imp.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 ACTIONLIB_STATUS_TRACKER_IMP_H_ 00038 #define ACTIONLIB_STATUS_TRACKER_IMP_H_ 00039 namespace actionlib { 00040 template <class ActionSpec> 00041 StatusTracker<ActionSpec>::StatusTracker(const actionlib_msgs::GoalID& goal_id, unsigned int status){ 00042 //set the goal id and status appropriately 00043 status_.goal_id = goal_id; 00044 status_.status = status; 00045 } 00046 00047 template <class ActionSpec> 00048 StatusTracker<ActionSpec>::StatusTracker(const boost::shared_ptr<const ActionGoal>& goal) 00049 : goal_(goal) { 00050 //set the goal_id from the message 00051 status_.goal_id = goal_->goal_id; 00052 00053 //initialize the status of the goal to pending 00054 status_.status = actionlib_msgs::GoalStatus::PENDING; 00055 00056 //if the goal id is zero, then we need to make up an id for the goal 00057 if(status_.goal_id.id == ""){ 00058 status_.goal_id = id_generator_.generateID(); 00059 } 00060 00061 //if the timestamp of the goal is zero, then we'll set it to now() 00062 if(status_.goal_id.stamp == ros::Time()){ 00063 status_.goal_id.stamp = ros::Time::now(); 00064 } 00065 } 00066 }; 00067 #endif