status_tracker.h

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 * Author: Eitan Marder-Eppstein
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#ifndef ACTIONLIB__SERVER__STATUS_TRACKER_H_
#define ACTIONLIB__SERVER__STATUS_TRACKER_H_

#include <actionlib_msgs/GoalID.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib/action_definition.h>

#include <actionlib/goal_id_generator.h>

namespace actionlib
{

template<class ActionSpec>
class StatusTracker
{
private:
  // generates typedefs that we'll use to make our lives easier
  ACTION_DEFINITION(ActionSpec);

public:
  StatusTracker(const actionlib_msgs::GoalID & goal_id, unsigned int status);

  StatusTracker(const boost::shared_ptr<const ActionGoal> & goal);

  boost::shared_ptr<const ActionGoal> goal_;
  boost::weak_ptr<void> handle_tracker_;
  actionlib_msgs::GoalStatus status_;
  ros::Time handle_destruction_time_;

private:
  GoalIDGenerator id_generator_;
};
}  // namespace actionlib

// include the implementation
#include <actionlib/server/status_tracker_imp.h>
#endif  // ACTIONLIB__SERVER__STATUS_TRACKER_H_