service_client.h
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35 * Author: Eitan Marder-Eppstein
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37 
38 #ifndef ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
39 #define ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
40 
43 
44 #include <string>
45 
46 namespace actionlib
47 {
48 
50 {
51 public:
53  virtual bool call(const void * goal, std::string goal_md5sum, void * result,
54  std::string result_md5sum) = 0;
55  virtual bool waitForServer(const ros::Duration & timeout) = 0;
56  virtual bool isServerConnected() = 0;
57  virtual ~ServiceClientImp() {}
58 };
59 
61 {
62 public:
64  : client_(client) {}
65 
66  template<class Goal, class Result>
67  bool call(const Goal & goal, Result & result);
68 
69  bool waitForServer(const ros::Duration & timeout = ros::Duration(0, 0));
70  bool isServerConnected();
71 
72 private:
74 };
75 
76 template<class ActionSpec>
77 ServiceClient serviceClient(ros::NodeHandle n, std::string name);
78 
79 template<class ActionSpec>
81 {
82 public:
83  ACTION_DEFINITION(ActionSpec)
84  typedef ClientGoalHandle<ActionSpec> GoalHandleT;
86 
87  ServiceClientImpT(ros::NodeHandle n, std::string name);
88 
89  bool call(const void * goal, std::string goal_md5sum, void * result, std::string result_md5sum);
90  bool waitForServer(const ros::Duration & timeout);
91  bool isServerConnected();
92 
93 private:
94  boost::scoped_ptr<SimpleActionClientT> ac_;
95 };
96 } // namespace actionlib
97 
98 // include the implementation
99 #include <actionlib/client/service_client_imp.h>
100 #endif // ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
ServiceClient serviceClient(ros::NodeHandle n, std::string name)
boost::shared_ptr< ServiceClientImp > client_
virtual bool isServerConnected()=0
virtual bool call(const void *goal, std::string goal_md5sum, void *result, std::string result_md5sum)=0
A Simple client implementation of the ActionInterface which supports only one goal at a time...
virtual bool waitForServer(const ros::Duration &timeout)=0
#define ACTION_DEFINITION(ActionSpec)
Client side handle to monitor goal progress.
ServiceClient(boost::shared_ptr< ServiceClientImp > client)


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Tue Sep 3 2019 03:41:41