Function rcl_action_update_goal_state

• Defined in File goal_handle.h

Function Documentation

rcl_ret_t rcl_action_update_goal_state(rcl_action_goal_handle_t *goal_handle, const rcl_action_goal_event_t goal_event)

Update a goal state with a rcl_action_goal_handle_t and an event.

This is a non-blocking call.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• goal_handle – [inout] struct containing goal state to transition

• goal_event – [in] the event used to transition the goal state

Returns:

RCL_RET_OK if the goal state was updated successfully, or

Returns:

RCL_RET_ACTION_GOAL_EVENT_INVALID if the goal event is invalid, or

Returns:

RCL_RET_ACTION_GOAL_HANDLE_INVALID if the goal handle is invalid, or