Class ServerGoalHandleBase

• Defined in File server_goal_handle.hpp

Inheritance Relationships

Derived Type

• public rclcpp_action::ServerGoalHandle< ActionT > (Template Class ServerGoalHandle)

Class Documentation

class ServerGoalHandleBase

Base class to interact with goals on a server. This class in not be used directly by users writing an action server. Instead users will be given an instance of rclcpp_action::ServerGoalHandle<>.

Internally, this class is responsible for interfacing with the rcl_action API.

Subclassed by rclcpp_action::ServerGoalHandle< ActionT >

Public Functions

bool is_canceling() const

Indicate if client has requested this goal be cancelled.

Returns:

true if a cancellation request has been accepted for this goal.

bool is_active() const

Indicate if goal is pending or executing.

Returns:

false if goal has reached a terminal state.

bool is_executing() const

Indicate if goal is executing.

Returns:

true only if the goal is in an executing state.

virtual ~ServerGoalHandleBase()

Protected Functions

inline ServerGoalHandleBase(std::shared_ptr<rcl_action_goal_handle_t> rcl_handle)

void _abort()

void _succeed()

void _cancel_goal()

void _canceled()

void _execute()

bool try_canceling() noexcept

Transition the goal to canceled state if it never reached a terminal state.