Wrapper class for service clients to perform initialization on first use. More...
#include <service_action_wrappers.h>
Public Member Functions | |
ros::ServiceClient & | client (ros::Duration timeout=ros::Duration(5.0)) |
Returns reference to client. On first use, initializes (and waits for) client. | |
bool | isInitialized () const |
ServiceWrapper (std::string service_name) | |
void | setInterruptFunction (boost::function< bool()> f) |
Sets the interrupt function. | |
Private Attributes | |
ros::ServiceClient | client_ |
The actual client handle. | |
bool | initialized_ |
Has the service client been initialized or not. | |
boost::function< bool()> | interrupt_function_ |
Function used to check for interrupts. | |
ros::NodeHandle | nh_ |
The node handle to be used when initializing services. | |
std::string | service_name_ |
The name of the service. |
Wrapper class for service clients to perform initialization on first use.
When the client is first used, it will check for the existence of the service and wait until the service becomes available.
Definition at line 51 of file service_action_wrappers.h.
object_manipulator::ServiceWrapper< ServiceDataType >::ServiceWrapper | ( | std::string | service_name | ) | [inline] |
Definition at line 65 of file service_action_wrappers.h.
ros::ServiceClient& object_manipulator::ServiceWrapper< ServiceDataType >::client | ( | ros::Duration | timeout = ros::Duration(5.0) | ) | [inline] |
Returns reference to client. On first use, initializes (and waits for) client.
Definition at line 74 of file service_action_wrappers.h.
bool object_manipulator::ServiceWrapper< ServiceDataType >::isInitialized | ( | ) | const [inline] |
Definition at line 97 of file service_action_wrappers.h.
void object_manipulator::ServiceWrapper< ServiceDataType >::setInterruptFunction | ( | boost::function< bool()> | f | ) | [inline] |
Sets the interrupt function.
Definition at line 71 of file service_action_wrappers.h.
ros::ServiceClient object_manipulator::ServiceWrapper< ServiceDataType >::client_ [private] |
The actual client handle.
Definition at line 61 of file service_action_wrappers.h.
bool object_manipulator::ServiceWrapper< ServiceDataType >::initialized_ [private] |
Has the service client been initialized or not.
Definition at line 55 of file service_action_wrappers.h.
boost::function<bool()> object_manipulator::ServiceWrapper< ServiceDataType >::interrupt_function_ [private] |
Function used to check for interrupts.
Definition at line 63 of file service_action_wrappers.h.
ros::NodeHandle object_manipulator::ServiceWrapper< ServiceDataType >::nh_ [private] |
The node handle to be used when initializing services.
Definition at line 59 of file service_action_wrappers.h.
std::string object_manipulator::ServiceWrapper< ServiceDataType >::service_name_ [private] |
The name of the service.
Definition at line 57 of file service_action_wrappers.h.