service_server.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef ACTIONLIB__SERVER__SERVICE_SERVER_H_
38 #define ACTIONLIB__SERVER__SERVICE_SERVER_H_
39 
42 
43 #include <string>
44 
45 namespace actionlib
46 {
47 
49 {
50 public:
52  virtual ~ServiceServerImp() {}
53 };
54 
56 {
57 public:
59  : server_(server) {}
60 
61 private:
63 };
64 
65 template<class ActionSpec>
67  boost::function<bool(const typename ActionSpec::_action_goal_type::_goal_type &,
68  typename ActionSpec::_action_result_type::_result_type & result)> service_cb);
69 
70 template<class ActionSpec>
72 {
73 public:
74  // generates typedefs that we'll use to make our lives easier
75  ACTION_DEFINITION(ActionSpec)
76 
77  typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
78 
79  ServiceServerImpT(ros::NodeHandle n, std::string name,
80  boost::function<bool(const Goal &, Result & result)> service_cb);
81  void goalCB(GoalHandle g);
82 
83 private:
84  boost::shared_ptr<ActionServer<ActionSpec> > as_;
85  boost::function<bool(const Goal &, Result & result)> service_cb_;
86 };
87 
88 } // namespace actionlib
89 
90 // include the implementation
91 #include <actionlib/server/service_server_imp.h>
92 #endif // ACTIONLIB__SERVER__SERVICE_SERVER_H_
ServiceServer(boost::shared_ptr< ServiceServerImp > server)
ServiceServer advertiseService(ros::NodeHandle n, std::string name, boost::function< bool(const typename ActionSpec::_action_goal_type::_goal_type &, typename ActionSpec::_action_result_type::_result_type &result)> service_cb)
boost::shared_ptr< ServiceServerImp > server_
Encapsulates a state machine for a given goal that the user can trigger transitions on...
#define ACTION_DEFINITION(ActionSpec)
The ActionServer is a helpful tool for managing goal requests to a node. It allows the user to specif...
Definition: action_server.h:72


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