server_goal_handle.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB_SERVER_GOAL_HANDLE_H_
00038 #define ACTIONLIB_SERVER_GOAL_HANDLE_H_
00039 
00040 #include <actionlib_msgs/GoalID.h>
00041 #include <actionlib_msgs/GoalStatus.h>
00042 #include <actionlib/action_definition.h>
00043 #include <actionlib/server/status_tracker.h>
00044 #include <actionlib/destruction_guard.h>
00045 #include <boost/shared_ptr.hpp>
00046 
00047 namespace actionlib {
00048   //forward declaration of ActionServer
00049   template <class ActionSpec>
00050   class ActionServer;
00051 
00058   template <class ActionSpec>
00059   class ServerGoalHandle {
00060     private:
00061       //generates typedefs that we'll use to make our lives easier
00062       ACTION_DEFINITION(ActionSpec);
00063 
00064     public:
00068       ServerGoalHandle();
00069 
00074       ServerGoalHandle(const ServerGoalHandle& gh);
00075 
00081       void setAccepted(const std::string& text = std::string(""));
00082 
00089       void setCanceled(const Result& result = Result(), const std::string& text = std::string(""));
00090 
00096       void setRejected(const Result& result = Result(), const std::string& text = std::string(""));
00097 
00103       void setAborted(const Result& result = Result(), const std::string& text = std::string(""));
00104 
00110       void setSucceeded(const Result& result = Result(), const std::string& text = std::string(""));
00111 
00116       void publishFeedback(const Feedback& feedback);
00117 
00122       boost::shared_ptr<const Goal> getGoal() const;
00123 
00128       actionlib_msgs::GoalID getGoalID() const;
00129 
00134       actionlib_msgs::GoalStatus getGoalStatus() const;
00135 
00140       ServerGoalHandle& operator=(const ServerGoalHandle& gh);
00141 
00147       bool operator==(const ServerGoalHandle& other);
00148 
00154       bool operator!=(const ServerGoalHandle& other);
00155 
00156     private:
00160       ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
00161           ActionServer<ActionSpec>* as, boost::shared_ptr<void> handle_tracker, boost::shared_ptr<DestructionGuard> guard);
00162 
00167       bool setCancelRequested();
00168 
00169       typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
00170       boost::shared_ptr<const ActionGoal> goal_;
00171       ActionServer<ActionSpec>* as_;
00172       boost::shared_ptr<void> handle_tracker_;
00173       boost::shared_ptr<DestructionGuard> guard_;
00174       friend class ActionServer<ActionSpec>;
00175   };
00176 
00177 };
00178 
00179 //include the implementation
00180 #include <actionlib/server/server_goal_handle_imp.h>
00181 
00182 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49