Function rcl_action_server_goal_exists

• Defined in File action_server.h

Function Documentation

bool rcl_action_server_goal_exists(const rcl_action_server_t *action_server, const rcl_action_goal_info_t *goal_info)

Check if a goal is already being tracked by an action server.

Checks whether or not a goal is being tracked in the internal goal array. The goal state has no effect on the return value.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• action_server – [in] handle to the action server

• goal_info – [in] handle to a struct containing the goal ID to check for

Returns:

true if action_server is currently tracking a goal with the provided goal ID, or

Returns:

false otherwise.