Template Class CpActionClient

Defined in File cp_action_client.hpp

Inheritance Relationships

Base Type

public smacc2::ISmaccComponent (Class ISmaccComponent)

Class Documentation

template<typename ActionType> class CpActionClient : public smacc2::ISmaccComponent 

Public Types

using ActionClient = rclcpp_action::Client<ActionType>

using Goal = typename ActionType::Goal

using Feedback = typename ActionType::Feedback

using Result = typename ActionType::Result

using GoalHandle = rclcpp_action::ClientGoalHandle<ActionType>

using WrappedResult = typename GoalHandle::WrappedResult

using SendGoalOptions = typename ActionClient::SendGoalOptions

using GoalResponseCallback = std::function<void(std::shared_future<typename GoalHandle::SharedPtr>)>

using FeedbackCallback = typename GoalHandle::FeedbackCallback

using ResultCallback = typename GoalHandle::ResultCallback

Public Functions

CpActionClient() = default

inline CpActionClient(const std::string &actionServerName)

virtual ~CpActionClient() = default

inline std::shared_future<typename GoalHandle::SharedPtr> sendGoal(Goal &goal, typename smacc2::SmaccSignal<void(const WrappedResult&)>::WeakPtr resultCallback = typename smacc2::SmaccSignal<void(const WrappedResult&)>::WeakPtr())

inline bool cancelGoal()

inline bool isServerReady() const

inline void waitForServer()

inline virtual void onInitialize() override

template<typename TOrthogonal, typename TSourceObject> inline void onComponentInitialization()

template<typename T> inline smacc2::SmaccSignalConnection onSucceeded(void (T::* callback)(const WrappedResult&), T *object)

template<typename T> inline smacc2::SmaccSignalConnection onAborted(void (T::* callback)(const WrappedResult&), T *object)

template<typename T> inline smacc2::SmaccSignalConnection onCancelled(void (T::* callback)(const WrappedResult&), T *object)

template<typename T> inline smacc2::SmaccSignalConnection onFeedback(void (T::* callback)(const Feedback&), T *object)

inline std::shared_ptr<ActionClient> getActionClient() const

Public Members

std::optional<std::string> actionServerName

std::optional<std::chrono::milliseconds> serverTimeout

smacc2::SmaccSignal<void(const WrappedResult&)> onActionSucceeded_

smacc2::SmaccSignal<void(const WrappedResult&)> onActionAborted_

smacc2::SmaccSignal<void(const WrappedResult&)> onActionCancelled_

smacc2::SmaccSignal<void(const Feedback&)> onActionFeedback_

smacc2::SmaccSignal<void()> onGoalAccepted_

smacc2::SmaccSignal<void()> onGoalRejected_

std::function<void(const WrappedResult&)> postSuccessEvent

std::function<void(const WrappedResult&)> postAbortedEvent

std::function<void(const WrappedResult&)> postCancelledEvent

std::function<void(const Feedback&)> postFeedbackEvent