Encapsulates a state machine for a given goal that the user can trigger transitions on. All ROS interfaces for the goal are managed by the ActionServer to lessen the burden on the user. More...

#include <server_goal_handle.h>

Public Member Functions
boost::shared_ptr< const Goal >	getGoal () const
	Accessor for the goal associated with the ServerGoalHandle. More...

actionlib_msgs::GoalID	getGoalID () const
	Accessor for the goal id associated with the ServerGoalHandle. More...

actionlib_msgs::GoalStatus	getGoalStatus () const
	Accessor for the status associated with the ServerGoalHandle. More...

bool	isValid () const
	Determine if the goal handle is valid (tracking a valid goal, and associated with a valid action server). If the handle is valid, it means that the accessors getGoal, getGoalID, etc, can be called without generating errors. More...

bool	operator!= (const ServerGoalHandle &other) const
	!= operator for ServerGoalHandles More...

ServerGoalHandle &	operator= (const ServerGoalHandle &gh)
	Equals operator for a ServerGoalHandle. More...

bool	operator== (const ServerGoalHandle &other) const
	Equals operator for ServerGoalHandles. More...

void	publishFeedback (const Feedback &feedback)
	Send feedback to any clients of the goal associated with this ServerGoalHandle. More...

	ServerGoalHandle ()
	Default constructor for a ServerGoalHandle. More...

	ServerGoalHandle (const ServerGoalHandle &gh)
	Copy constructor for a ServerGoalHandle. More...

void	setAborted (const Result &result=Result(), const std::string &text=std::string(""))
	Set the status of the goal associated with the ServerGoalHandle to aborted. More...

void	setAccepted (const std::string &text=std::string(""))
	Accept the goal referenced by the goal handle. This will transition to the ACTIVE state or the PREEMPTING state depending on whether a cancel request has been received for the goal. More...

void	setCanceled (const Result &result=Result(), const std::string &text=std::string(""))
	Set the status of the goal associated with the ServerGoalHandle to RECALLED or PREEMPTED depending on what the current status of the goal is. More...

void	setRejected (const Result &result=Result(), const std::string &text=std::string(""))
	Set the status of the goal associated with the ServerGoalHandle to rejected. More...

void	setSucceeded (const Result &result=Result(), const std::string &text=std::string(""))
	Set the status of the goal associated with the ServerGoalHandle to succeeded. More...

Private Member Functions
	ACTION_DEFINITION (ActionSpec)

	ServerGoalHandle (typename std::list< StatusTracker< ActionSpec > >::iterator status_it, ActionServerBase< ActionSpec > *as, boost::shared_ptr< void > handle_tracker, boost::shared_ptr< DestructionGuard > guard)
	A private constructor used by the ActionServer to initialize a ServerGoalHandle. More...

bool	setCancelRequested ()
	A private method to set status to PENDING or RECALLING. More...

Private Attributes
ActionServerBase< ActionSpec > *	as_

boost::shared_ptr< const ActionGoal >	goal_

boost::shared_ptr< DestructionGuard >	guard_

boost::shared_ptr< void >	handle_tracker_

std::list< StatusTracker< ActionSpec > >::iterator	status_it_

Friends
class	ActionServerBase< ActionSpec >

Detailed Description

template<class ActionSpec>
class actionlib::ServerGoalHandle< ActionSpec >

Encapsulates a state machine for a given goal that the user can trigger transitions on. All ROS interfaces for the goal are managed by the ActionServer to lessen the burden on the user.

Definition at line 63 of file server_goal_handle.h.

Constructor & Destructor Documentation

template<class ActionSpec >

actionlib::ServerGoalHandle< ActionSpec >::ServerGoalHandle ( )

Default constructor for a ServerGoalHandle.

Definition at line 48 of file server_goal_handle_imp.h.

template<class ActionSpec >

actionlib::ServerGoalHandle< ActionSpec >::ServerGoalHandle ( const ServerGoalHandle< ActionSpec > & gh )

Copy constructor for a ServerGoalHandle.

Parameters

gh	The goal handle to copy

Definition at line 52 of file server_goal_handle_imp.h.

template<class ActionSpec >

actionlib::ServerGoalHandle< ActionSpec >::ServerGoalHandle	(	typename std::list< StatusTracker< ActionSpec > >::iterator	status_it,
		ActionServerBase< ActionSpec > *	as,
		boost::shared_ptr< void >	handle_tracker,
		boost::shared_ptr< DestructionGuard >	guard
	)

private

A private constructor used by the ActionServer to initialize a ServerGoalHandle.

Definition at line 373 of file server_goal_handle_imp.h.

Member Function Documentation

template<class ActionSpec >

actionlib::ServerGoalHandle< ActionSpec >::ACTION_DEFINITION ( ActionSpec )

private

template<class ActionSpec >

boost::shared_ptr< const typename ServerGoalHandle< ActionSpec >::Goal > actionlib::ServerGoalHandle< ActionSpec >::getGoal ( ) const

Accessor for the goal associated with the ServerGoalHandle.

Returns: A shared_ptr to the goal object

Definition at line 292 of file server_goal_handle_imp.h.

template<class ActionSpec >

actionlib_msgs::GoalID actionlib::ServerGoalHandle< ActionSpec >::getGoalID ( ) const

Accessor for the goal id associated with the ServerGoalHandle.

Returns: The goal id

Definition at line 304 of file server_goal_handle_imp.h.

template<class ActionSpec >

actionlib_msgs::GoalStatus actionlib::ServerGoalHandle< ActionSpec >::getGoalStatus ( ) const

Accessor for the status associated with the ServerGoalHandle.

Returns: The goal status

Definition at line 322 of file server_goal_handle_imp.h.

template<class ActionSpec >

bool actionlib::ServerGoalHandle< ActionSpec >::isValid ( ) const

Determine if the goal handle is valid (tracking a valid goal, and associated with a valid action server). If the handle is valid, it means that the accessors getGoal, getGoalID, etc, can be called without generating errors.

Returns: True if valid, False if invalid

Definition at line 285 of file server_goal_handle_imp.h.

template<class ActionSpec >

bool actionlib::ServerGoalHandle< ActionSpec >::operator!= ( const ServerGoalHandle< ActionSpec > & other ) const

!= operator for ServerGoalHandles

Parameters

other The ServerGoalHandle to compare to

Returns: True if the ServerGoalHandles refer to different goals, false otherwise

Definition at line 367 of file server_goal_handle_imp.h.

template<class ActionSpec >

ServerGoalHandle< ActionSpec > & actionlib::ServerGoalHandle< ActionSpec >::operator= ( const ServerGoalHandle< ActionSpec > & gh )

Equals operator for a ServerGoalHandle.

Parameters

gh	The goal handle to copy

Definition at line 340 of file server_goal_handle_imp.h.

template<class ActionSpec >

bool actionlib::ServerGoalHandle< ActionSpec >::operator== ( const ServerGoalHandle< ActionSpec > & other ) const

Equals operator for ServerGoalHandles.

Parameters

other The ServerGoalHandle to compare to

Returns: True if the ServerGoalHandles refer to the same goal, false otherwise

Definition at line 351 of file server_goal_handle_imp.h.

template<class ActionSpec >

void actionlib::ServerGoalHandle< ActionSpec >::publishFeedback ( const Feedback & feedback )

Send feedback to any clients of the goal associated with this ServerGoalHandle.

Parameters

feedback The feedback to send to the client

Definition at line 257 of file server_goal_handle_imp.h.

template<class ActionSpec >

void actionlib::ServerGoalHandle< ActionSpec >::setAborted	(	const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)

Set the status of the goal associated with the ServerGoalHandle to aborted.

Parameters

result	Optionally, the user can pass in a result to be sent to any clients of the goal
text	Optionally, any text message about the status change being made that should be passed to the client

Definition at line 181 of file server_goal_handle_imp.h.

template<class ActionSpec >

void actionlib::ServerGoalHandle< ActionSpec >::setAccepted ( const std::string & text = std::string("") )

Accept the goal referenced by the goal handle. This will transition to the ACTIVE state or the PREEMPTING state depending on whether a cancel request has been received for the goal.

Parameters

text	Optionally, any text message about the status change being made that should be passed to the client

Definition at line 57 of file server_goal_handle_imp.h.

template<class ActionSpec >

void actionlib::ServerGoalHandle< ActionSpec >::setCanceled	(	const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)

Set the status of the goal associated with the ServerGoalHandle to RECALLED or PREEMPTED depending on what the current status of the goal is.

Parameters

result	Optionally, the user can pass in a result to be sent to any clients of the goal
text	Optionally, any text message about the status change being made that should be passed to the client

Definition at line 100 of file server_goal_handle_imp.h.

template<class ActionSpec >

bool actionlib::ServerGoalHandle< ActionSpec >::setCancelRequested ( )

private

A private method to set status to PENDING or RECALLING.

Returns: True if the cancel request should be passed on to the user, false otherwise

Definition at line 381 of file server_goal_handle_imp.h.

template<class ActionSpec >

void actionlib::ServerGoalHandle< ActionSpec >::setRejected	(	const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)

Set the status of the goal associated with the ServerGoalHandle to rejected.

Parameters

result	Optionally, the user can pass in a result to be sent to any clients of the goal
text	Optionally, any text message about the status change being made that should be passed to the client

Definition at line 143 of file server_goal_handle_imp.h.

template<class ActionSpec >

void actionlib::ServerGoalHandle< ActionSpec >::setSucceeded	(	const Result &	result = `Result()`,
		const std::string &	text = `std::string("")`
	)

Set the status of the goal associated with the ServerGoalHandle to succeeded.

Parameters

result	Optionally, the user can pass in a result to be sent to any clients of the goal
text	Optionally, any text message about the status change being made that should be passed to the client

Definition at line 219 of file server_goal_handle_imp.h.

Friends And Related Function Documentation

template<class ActionSpec >

friend class ActionServerBase< ActionSpec >

friend

Definition at line 190 of file server_goal_handle.h.

Member Data Documentation

template<class ActionSpec >

ActionServerBase<ActionSpec>* actionlib::ServerGoalHandle< ActionSpec >::as_

private

Definition at line 187 of file server_goal_handle.h.

template<class ActionSpec >

boost::shared_ptr<const ActionGoal> actionlib::ServerGoalHandle< ActionSpec >::goal_

private

Definition at line 186 of file server_goal_handle.h.

template<class ActionSpec >

boost::shared_ptr<DestructionGuard> actionlib::ServerGoalHandle< ActionSpec >::guard_

private

Definition at line 189 of file server_goal_handle.h.

template<class ActionSpec >

boost::shared_ptr<void> actionlib::ServerGoalHandle< ActionSpec >::handle_tracker_

private

Definition at line 188 of file server_goal_handle.h.

template<class ActionSpec >

std::list<StatusTracker<ActionSpec> >::iterator actionlib::ServerGoalHandle< ActionSpec >::status_it_

private

Definition at line 185 of file server_goal_handle.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

template<class ActionSpec> class actionlib::ServerGoalHandle< ActionSpec >

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class ActionSpec>
class actionlib::ServerGoalHandle< ActionSpec >