Class GenericClientGoalHandle

Defined in File generic_client_goal_handle.hpp

Nested Relationships

Nested Types

Struct GenericClientGoalHandle::WrappedResult

Class Documentation

class GenericClientGoalHandle

Public Types

enum class ResultCode : int8_t

The possible statuses that an action goal can finish with.

Values:

enumerator UNKNOWN

enumerator SUCCEEDED

enumerator CANCELED

enumerator ABORTED

using FeedbackCallback = std::function<void(typename GenericClientGoalHandle::SharedPtr, const void*)>

using ResultCallback = std::function<void(const WrappedResult &result)>

Public Functions

virtual ~GenericClientGoalHandle()

const GoalUUID &get_goal_id() const: Get the unique ID for the goal.

rclcpp::Time get_goal_stamp() const: Get the time when the goal was accepted.

int8_t get_status(): Get the goal status code.

bool is_feedback_aware(): Check if an action client has subscribed to feedback for the goal.

bool is_result_aware(): Check if an action client has requested the result for the goal.

struct WrappedResult

Public Members

GoalUUID goal_id: The unique identifier of the goal.

ResultCode code: A status to indicate if the goal was canceled, aborted, or succeeded.

const void *result: User defined fields sent back with an action.

std::shared_ptr<void> result_response: hold shared pointer for result response message.