path_planning_algorithm_imp.hpp

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#ifndef RAM_PATH_PLANNING_PATH_PLANNING_ALGORITHM_IMP_HPP
#define RAM_PATH_PLANNING_PATH_PLANNING_ALGORITHM_IMP_HPP

namespace ram_path_planning
{
template<class ActionSpec>
  PathPlanningAlgorithm<ActionSpec>::PathPlanningAlgorithm(const std::string name,
                                                           const std::string description,
                                                           const std::string service_name) :
          name_(name),
          description_(description),
          service_name_(service_name)
  {
  }

template<class ActionSpec>
  PathPlanningAlgorithm<ActionSpec>::~PathPlanningAlgorithm()
  {
  }

template<class ActionSpec>
  bool PathPlanningAlgorithm<ActionSpec>::publishPercentageDone(const unsigned percentage,
                                                                actionlib::ServerGoalHandle<ActionSpec> &gh)
  {
    ActionSpec action;
    // Publish Feedback value
    if (gh.getGoalStatus().status != actionlib_msgs::GoalStatus::ACTIVE)
      return false;

    action.action_feedback.feedback.progress_value = percentage;
    gh.publishFeedback(action.action_feedback.feedback);
    return true;
  }

template<class ActionSpec>
  bool PathPlanningAlgorithm<ActionSpec>::publishStatusDone(const std::string progress_msg,
                                                            actionlib::ServerGoalHandle<ActionSpec> &gh)
  {
    ActionSpec action;
    // Publish Feedback value
    if (gh.getGoalStatus().status != actionlib_msgs::GoalStatus::ACTIVE)
      return false;

    action.action_feedback.feedback.progress_msg = progress_msg;
    gh.publishFeedback(action.action_feedback.feedback);
    return true;

  }

template<class ActionSpec>
  bool PathPlanningAlgorithm<ActionSpec>::publishStatusPercentageDone(const std::string progress_msg,
                                                                      const unsigned percentage,
                                                                      actionlib::ServerGoalHandle<ActionSpec> &gh)
  {
    ActionSpec action;
    // Publish Feedback value
    if (gh.getGoalStatus().status != actionlib_msgs::GoalStatus::ACTIVE)
      return false;

    action.action_feedback.feedback.progress_value = percentage;
    action.action_feedback.feedback.progress_msg = progress_msg;
    gh.publishFeedback(action.action_feedback.feedback);
    return true;

  }

}

#endif