.. _program_listing_file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_bases_smacc_action_client.hpp:

Program Listing for File smacc_action_client.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_smacc2_smacc2_include_smacc2_client_bases_smacc_action_client.hpp>` (``/tmp/ws/src/smacc2/smacc2/include/smacc2/client_bases/smacc_action_client.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <smacc2/smacc_client.hpp>
   #include <smacc2/smacc_state_machine.hpp>
   
   #include <rclcpp_action/client.hpp>
   
   namespace smacc2
   {
   namespace client_bases
   {
   // This class interface shows the basic set of methods that
   // a SMACC "resource" or "plugin" Action Client has
   class ISmaccActionClient : public ISmaccClient
   {
   public:
     ISmaccActionClient();
   
     // The destructor. This is called when the object is not
     // referenced anymore by its owner
     virtual ~ISmaccActionClient();
   
     // Gets the ros path of the action...
     inline std::string getNamespace() const { return name_; }
   
     virtual bool cancelGoal() = 0;
   
     virtual std::shared_ptr<rclcpp_action::ClientBase> getClientBase() = 0;
   
     virtual std::string getName() const { return name_; }
   
   protected:
     // The ros path where the action server is located
     std::string name_;
   };
   }  // namespace client_bases
   }  // namespace smacc2