rtt_actionlib::ActionBridge Class Reference

#include <rtt_actionlib.h>

Public Member Functions
	ActionBridge ()
	Constructor. More...
bool	allConnected () const
	True if all existing ports are connected. More...
bool	anyConnected () const
RTT::InputPort< actionlib_msgs::GoalID > &	cancelInput ()
	Get the cancel input port. More...
RTT::OutputPort< actionlib_msgs::GoalID > &	cancelOutput ()
	Get the cancel output port. More...
template<class ActionSpec >
bool	createClientPorts ()
template<class ActionSpec >
bool	createServerPorts ()
	Add actionlib ports to a given rtt service. More...
bool	createStream (const std::string action_ns, RTT::ConnPolicy cp_template=RTT::ConnPolicy::data())
	Create a stream from this RTT actionlib port interface to the appropriate ROS topic interface. More...
template<class ActionSpec >
RTT::InputPort< typename ActionSpec::_action_feedback_type > &	feedbackInput ()
	Get the feedback input port. More...
template<class ActionSpec >
RTT::OutputPort< typename ActionSpec::_action_feedback_type > &	feedbackOutput ()
	Get the feedback output port. More...
template<class ActionSpec >
RTT::InputPort< typename ActionSpec::_action_goal_type > &	goalInput ()
	Get the goal input port. More...
template<class ActionSpec >
RTT::OutputPort< typename ActionSpec::_action_goal_type > &	goalOutput ()
	Get the goal output port. More...
bool	isClient () const
	True if valid, goal/cancel are outputs, and result/status/feedback are inputs. More...
bool	isServer () const
	True if valid, goal/cancel are inputs, and result/status/feedback are outputs. More...
bool	isValid () const
	True if all required ports are not null. More...
template<class ActionSpec >
RTT::InputPort< typename ActionSpec::_action_result_type > &	resultInput ()
	Get the result input port. More...
template<class ActionSpec >
RTT::OutputPort< typename ActionSpec::_action_result_type > &	resultOutput ()
	Get the result output port. More...
bool	setPorts (RTT::base::PortInterface *goal, RTT::base::PortInterface *cancel, RTT::base::PortInterface *status, RTT::base::PortInterface *result, RTT::base::PortInterface *feedback)
	Store the RTT ports manually. More...
bool	setPortsFromService (RTT::Service::shared_ptr service)
	Store the required RTT ports from a given RTT service. More...
RTT::InputPort< actionlib_msgs::GoalStatusArray > &	statusInput ()
	Get the status input port. More...
RTT::OutputPort< actionlib_msgs::GoalStatusArray > &	statusOutput ()
	Get the status output port. More...
	~ActionBridge ()

Private Attributes
RTT::base::PortInterface *	cancel_
RTT::base::PortInterface *	feedback_
RTT::base::PortInterface *	goal_
bool	owns_port_pointers_
RTT::base::PortInterface *	result_
RTT::base::PortInterface *	status_

Detailed Description

Definition at line 16 of file rtt_actionlib.h.

Constructor & Destructor Documentation

rtt_actionlib::ActionBridge::ActionBridge ( )

inline

Constructor.

Definition at line 21 of file rtt_actionlib.h.

rtt_actionlib::ActionBridge::~ActionBridge ( )

inline

Definition at line 25 of file rtt_actionlib.h.

Member Function Documentation

bool rtt_actionlib::ActionBridge::allConnected ( ) const

inline

True if all existing ports are connected.

Definition at line 242 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::anyConnected ( ) const

inline

Definition at line 258 of file rtt_actionlib.h.

RTT::InputPort<actionlib_msgs::GoalID>& rtt_actionlib::ActionBridge::cancelInput ( )

inline

Get the cancel input port.

Definition at line 89 of file rtt_actionlib.h.

RTT::OutputPort<actionlib_msgs::GoalID>& rtt_actionlib::ActionBridge::cancelOutput ( )

inline

Get the cancel output port.

Definition at line 103 of file rtt_actionlib.h.

template<class ActionSpec >

bool rtt_actionlib::ActionBridge::createClientPorts ( )

inline

Definition at line 62 of file rtt_actionlib.h.

template<class ActionSpec >

bool rtt_actionlib::ActionBridge::createServerPorts ( )

inline

Add actionlib ports to a given rtt service.

Definition at line 38 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::createStream ( const std::string  action_ns, RTT::ConnPolicy  cp_template = RTT::ConnPolicy::data()  )

inline

Create a stream from this RTT actionlib port interface to the appropriate ROS topic interface.

Definition at line 202 of file rtt_actionlib.h.

template<class ActionSpec >

RTT::InputPort<typename ActionSpec::_action_feedback_type>& rtt_actionlib::ActionBridge::feedbackInput ( )

inline

Get the feedback input port.

Definition at line 97 of file rtt_actionlib.h.

template<class ActionSpec >

RTT::OutputPort<typename ActionSpec::_action_feedback_type>& rtt_actionlib::ActionBridge::feedbackOutput ( )

inline

Get the feedback output port.

Definition at line 111 of file rtt_actionlib.h.

template<class ActionSpec >

RTT::InputPort<typename ActionSpec::_action_goal_type>& rtt_actionlib::ActionBridge::goalInput ( )

inline

Get the goal input port.

Definition at line 87 of file rtt_actionlib.h.

template<class ActionSpec >

RTT::OutputPort<typename ActionSpec::_action_goal_type>& rtt_actionlib::ActionBridge::goalOutput ( )

inline

Get the goal output port.

Definition at line 101 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::isClient ( ) const

inline

True if valid, goal/cancel are outputs, and result/status/feedback are inputs.

Definition at line 181 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::isServer ( ) const

inline

True if valid, goal/cancel are inputs, and result/status/feedback are outputs.

Definition at line 161 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::isValid ( ) const

inline

True if all required ports are not null.

Definition at line 155 of file rtt_actionlib.h.

template<class ActionSpec >

RTT::InputPort<typename ActionSpec::_action_result_type>& rtt_actionlib::ActionBridge::resultInput ( )

inline

Get the result input port.

Definition at line 94 of file rtt_actionlib.h.

template<class ActionSpec >

RTT::OutputPort<typename ActionSpec::_action_result_type>& rtt_actionlib::ActionBridge::resultOutput ( )

inline

Get the result output port.

Definition at line 108 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::setPorts ( RTT::base::PortInterface *  goal, RTT::base::PortInterface *  cancel, RTT::base::PortInterface *  status, RTT::base::PortInterface *  result, RTT::base::PortInterface *  feedback  )

inline

Store the RTT ports manually.

Definition at line 114 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::setPortsFromService ( RTT::Service::shared_ptr  service )

inline

Store the required RTT ports from a given RTT service.

Definition at line 135 of file rtt_actionlib.h.

RTT::InputPort<actionlib_msgs::GoalStatusArray>& rtt_actionlib::ActionBridge::statusInput ( )

inline

Get the status input port.

Definition at line 91 of file rtt_actionlib.h.

RTT::OutputPort<actionlib_msgs::GoalStatusArray>& rtt_actionlib::ActionBridge::statusOutput ( )

inline

Get the status output port.

Definition at line 105 of file rtt_actionlib.h.

Member Data Documentation

RTT::base::PortInterface* rtt_actionlib::ActionBridge::cancel_

private

Definition at line 281 of file rtt_actionlib.h.

RTT::base::PortInterface* rtt_actionlib::ActionBridge::feedback_

private

Definition at line 284 of file rtt_actionlib.h.

RTT::base::PortInterface* rtt_actionlib::ActionBridge::goal_

private

Definition at line 280 of file rtt_actionlib.h.

bool rtt_actionlib::ActionBridge::owns_port_pointers_

private

Definition at line 277 of file rtt_actionlib.h.

RTT::base::PortInterface* rtt_actionlib::ActionBridge::result_

private

Definition at line 283 of file rtt_actionlib.h.

RTT::base::PortInterface* rtt_actionlib::ActionBridge::status_

private

Definition at line 282 of file rtt_actionlib.h.

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The documentation for this class was generated from the following file:

• rtt_actionlib.h