#include <rtt_simple_action_server.h>

Public Member Functions
bool	abortActive (const Result &result, const std::string &msg="")
	Abort active goal. Abort active goal with given result, do nothing if there is no active goal. More...

bool	acceptPending (const Result &result, const std::string &msg="")
	Accept pending goal. Accept pending goal, preempt the active goal with result if present. Do nothing if there is no pending goal. More...

bool	cancelActive (const Result &result, const std::string &msg="")
	Cancel active goal. Cancel active goal with given result, do nothing if there is no active goal. More...

boost::shared_ptr< const Goal >	getActiveGoal () const

boost::shared_ptr< const Goal >	getPendingGoal () const

bool	isActive () const

bool	isPending () const

bool	isPreempting () const

bool	publishFeedback (const Feedback &feedpack)
	Publish feedback on active goal. Publish feedback on active goal, do nothing if there is no active goal. More...

bool	ready ()

bool	rejectPending (const Result &result, const std::string &msg="")
	Reject pending goal. Reject pending goal with result, do nothing if there is no pending goal. More...

	RTTSimpleActionServer (boost::shared_ptr< RTT::Service > owner_service)

void	setCancelHook (boost::function< void()> _cancelGoalHook)
	Setup cancel hook. More...

void	setGoalHook (boost::function< void(const Goal &)> _newGoalHook)
	Setup goal hook. More...

void	shutdown ()

bool	start (bool publish_feedback=false)

bool	succeedActive (const Result &result, const std::string &msg="")
	Succeed active goal. Succeed active goal with given result, do nothing if there is no active goal. More...

Protected Types
typedef actionlib::ServerGoalHandle< ActionSpec >	GoalHandle

Protected Member Functions
	ACTION_DEFINITION (ActionSpec)

void	cancelCallback (GoalHandle gh)

void	goalCallback (GoalHandle gh)

Protected Attributes
RTTActionServer< ActionSpec >	action_server

boost::function< void()>	cancelGoalHook

GoalHandle	goal_active

GoalHandle	goal_pending

boost::function< void(const Goal &)>	newGoalHook

Detailed Description

template<class ActionSpec>
class rtt_actionlib::RTTSimpleActionServer< ActionSpec >

Definition at line 14 of file rtt_simple_action_server.h.

Member Typedef Documentation

template<class ActionSpec >

typedef actionlib::ServerGoalHandle<ActionSpec> rtt_actionlib::RTTSimpleActionServer< ActionSpec >::GoalHandle

protected

Definition at line 18 of file rtt_simple_action_server.h.

Constructor & Destructor Documentation

template<class ActionSpec >

rtt_actionlib::RTTSimpleActionServer< ActionSpec >::RTTSimpleActionServer ( boost::shared_ptr< RTT::Service > owner_service )

inline

Create RTTSimpleActionServer in given Service.

Create ports, register callbacks.

Parameters

owner_service Pointer to owner service.

Definition at line 44 of file rtt_simple_action_server.h.

Member Function Documentation

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::abortActive	(	const Result &	result,
		const std::string &	msg = `""`
	)

Abort active goal. Abort active goal with given result, do nothing if there is no active goal.

Parameters

result Result of the aborted active goal.

Returns: true if active goal is aborted.

Definition at line 227 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::acceptPending	(	const Result &	result,
		const std::string &	msg = `""`
	)

Accept pending goal. Accept pending goal, preempt the active goal with result if present. Do nothing if there is no pending goal.

Parameters

result Result of the preemted active goal.

Returns: true if pending goal is accepted.

Definition at line 187 of file rtt_simple_action_server.h.

template<class ActionSpec >

rtt_actionlib::RTTSimpleActionServer< ActionSpec >::ACTION_DEFINITION ( ActionSpec )

protected

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::cancelActive	(	const Result &	result,
		const std::string &	msg = `""`
	)

Cancel active goal. Cancel active goal with given result, do nothing if there is no active goal.

Parameters

result Result of the aborted active goal.

Returns: true if goal is been canceled.

Definition at line 239 of file rtt_simple_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTSimpleActionServer< ActionSpec >::cancelCallback ( GoalHandle gh )

protected

Definition at line 279 of file rtt_simple_action_server.h.

template<class ActionSpec >

boost::shared_ptr<const Goal> rtt_actionlib::RTTSimpleActionServer< ActionSpec >::getActiveGoal ( ) const

inline

Return pointer to active goal.

Definition at line 97 of file rtt_simple_action_server.h.

template<class ActionSpec >

boost::shared_ptr<const Goal> rtt_actionlib::RTTSimpleActionServer< ActionSpec >::getPendingGoal ( ) const

inline

Return pointer to pending goal.

Definition at line 106 of file rtt_simple_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTSimpleActionServer< ActionSpec >::goalCallback ( GoalHandle gh )

protected

Definition at line 263 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::isActive ( void ) const

inline

Check, if active goal is present.

Definition at line 76 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::isPending ( ) const

inline

Check, if pending goal is present.

Definition at line 90 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::isPreempting ( ) const

inline

Check, if active goal is being preempted.

Definition at line 83 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::publishFeedback ( const Feedback & feedpack )

Publish feedback on active goal. Publish feedback on active goal, do nothing if there is no active goal.

Parameters

feedback action feedback

Returns: true if active goal is present.

Definition at line 220 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::ready ( void )

inline

Check all connections.

Definition at line 55 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::rejectPending	(	const Result &	result,
		const std::string &	msg = `""`
	)

Reject pending goal. Reject pending goal with result, do nothing if there is no pending goal.

Parameters

result Result of the rejected pending goal.

Returns: true if pending goal is rejected..

Definition at line 208 of file rtt_simple_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTSimpleActionServer< ActionSpec >::setCancelHook ( boost::function< void()> _cancelGoalHook )

inline

Setup cancel hook.

Parameters

cancelGoalHook A function, being called when active goal is canceled.

Definition at line 172 of file rtt_simple_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTSimpleActionServer< ActionSpec >::setGoalHook ( boost::function< void(const Goal &)> _newGoalHook )

inline

Setup goal hook.

Parameters

newGoalHook A function, being called if new goal arrives.

Definition at line 164 of file rtt_simple_action_server.h.

template<class ActionSpec >

void rtt_actionlib::RTTSimpleActionServer< ActionSpec >::shutdown ( )

inline

Stop action server.

Definition at line 69 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::start ( bool publish_feedback = false )

Start action server in given TskContext.

Parameters

publish_feedback if true publish feedback periodically

Definition at line 177 of file rtt_simple_action_server.h.

template<class ActionSpec >

bool rtt_actionlib::RTTSimpleActionServer< ActionSpec >::succeedActive	(	const Result &	result,
		const std::string &	msg = `""`
	)

Succeed active goal. Succeed active goal with given result, do nothing if there is no active goal.

Parameters

result Result of the succeed active goal.

Returns: true if active goal is succeed.

Definition at line 251 of file rtt_simple_action_server.h.

Member Data Documentation

template<class ActionSpec >

RTTActionServer<ActionSpec> rtt_actionlib::RTTSimpleActionServer< ActionSpec >::action_server

protected

Definition at line 23 of file rtt_simple_action_server.h.

template<class ActionSpec >

boost::function<void()> rtt_actionlib::RTTSimpleActionServer< ActionSpec >::cancelGoalHook

protected

Definition at line 29 of file rtt_simple_action_server.h.

template<class ActionSpec >

GoalHandle rtt_actionlib::RTTSimpleActionServer< ActionSpec >::goal_active

protected

Definition at line 24 of file rtt_simple_action_server.h.

template<class ActionSpec >

GoalHandle rtt_actionlib::RTTSimpleActionServer< ActionSpec >::goal_pending

protected

Definition at line 25 of file rtt_simple_action_server.h.

template<class ActionSpec >

boost::function<void(const Goal&)> rtt_actionlib::RTTSimpleActionServer< ActionSpec >::newGoalHook

protected

Definition at line 28 of file rtt_simple_action_server.h.

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

rtt_simple_action_server.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<class ActionSpec> class rtt_actionlib::RTTSimpleActionServer< ActionSpec >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class ActionSpec>
class rtt_actionlib::RTTSimpleActionServer< ActionSpec >