actionlib::SimpleActionClient< ActionSpec > Class Template Reference

A Simple client implementation of the ActionInterface which supports only one goal at a time. More...

#include <simple_action_client.h>

List of all members.

Public Types

typedef boost::function< void() > SimpleActiveCallback
typedef boost::function< void(const
SimpleClientGoalState &state,
const ResultConstPtr &result) > 
SimpleDoneCallback
typedef boost::function< void(const
FeedbackConstPtr &feedback) > 
SimpleFeedbackCallback

Public Member Functions

void cancelAllGoals ()
 Cancel all goals currently running on the action server.
void cancelGoal ()
 Cancel the goal that we are currently pursuing.
void cancelGoalsAtAndBeforeTime (const ros::Time &time)
 Cancel all goals that were stamped at and before the specified time.
ResultConstPtr getResult ()
 Get the Result of the current goal.
SimpleClientGoalState getState ()
 Get the state information for this goal.
bool isServerConnected ()
 Checks if the action client is successfully connected to the action server.
void sendGoal (const Goal &goal, SimpleDoneCallback done_cb=SimpleDoneCallback(), SimpleActiveCallback active_cb=SimpleActiveCallback(), SimpleFeedbackCallback feedback_cb=SimpleFeedbackCallback())
 Sends a goal to the ActionServer, and also registers callbacks.
SimpleClientGoalState sendGoalAndWait (const Goal &goal, const ros::Duration &execute_timeout=ros::Duration(0, 0), const ros::Duration &preempt_timeout=ros::Duration(0, 0))
 Sends a goal to the ActionServer, and waits until the goal completes or a timeout is exceeded.
 SimpleActionClient (ros::NodeHandle &n, const std::string &name, bool spin_thread=true)
 Constructor with namespacing options.
 SimpleActionClient (const std::string &name, bool spin_thread=true)
 Simple constructor.
void stopTrackingGoal ()
 Stops tracking the state of the current goal. Unregisters this goal's callbacks.
bool waitForResult (const ros::Duration &timeout=ros::Duration(0, 0))
 Blocks until this goal finishes.
bool waitForServer (const ros::Duration &timeout=ros::Duration(0, 0))
 Waits for the ActionServer to connect to this client.
 ~SimpleActionClient ()

Private Types

typedef ActionClient< ActionSpec > ActionClientT
typedef ClientGoalHandle
< ActionSpec > 
GoalHandleT
typedef SimpleActionClient
< ActionSpec > 
SimpleActionClientT

Private Member Functions

 ACTION_DEFINITION (ActionSpec)
void handleFeedback (GoalHandleT gh, const FeedbackConstPtr &feedback)
void handleTransition (GoalHandleT gh)
void initSimpleClient (ros::NodeHandle &n, const std::string &name, bool spin_thread)
void setSimpleState (const SimpleGoalState &next_state)
void setSimpleState (const SimpleGoalState::StateEnum &next_state)
void spinThread ()

Private Attributes

boost::scoped_ptr< ActionClientTac_
SimpleActiveCallback active_cb_
ros::CallbackQueue callback_queue
SimpleGoalState cur_simple_state_
SimpleDoneCallback done_cb_
boost::condition done_condition_
boost::mutex done_mutex_
SimpleFeedbackCallback feedback_cb_
GoalHandleT gh_
bool need_to_terminate_
ros::NodeHandle nh_
boost::thread * spin_thread_
boost::mutex terminate_mutex_

Detailed Description

template<class ActionSpec>
class actionlib::SimpleActionClient< ActionSpec >

A Simple client implementation of the ActionInterface which supports only one goal at a time.

The SimpleActionClient wraps the exisitng ActionClient, and exposes a limited set of easy-to-use hooks for the user. Note that the concept of GoalHandles has been completely hidden from the user, and that they must query the SimplyActionClient directly in order to monitor a goal.

Definition at line 68 of file simple_action_client.h.


Member Typedef Documentation

template<class ActionSpec>
typedef ActionClient<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::ActionClientT [private]

Definition at line 209 of file simple_action_client.h.

template<class ActionSpec>
typedef ClientGoalHandle<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::GoalHandleT [private]

Definition at line 72 of file simple_action_client.h.

template<class ActionSpec>
typedef SimpleActionClient<ActionSpec> actionlib::SimpleActionClient< ActionSpec >::SimpleActionClientT [private]

Definition at line 73 of file simple_action_client.h.

template<class ActionSpec>
typedef boost::function<void () > actionlib::SimpleActionClient< ActionSpec >::SimpleActiveCallback

Definition at line 77 of file simple_action_client.h.

template<class ActionSpec>
typedef boost::function<void (const SimpleClientGoalState& state, const ResultConstPtr& result) > actionlib::SimpleActionClient< ActionSpec >::SimpleDoneCallback

Definition at line 76 of file simple_action_client.h.

template<class ActionSpec>
typedef boost::function<void (const FeedbackConstPtr& feedback) > actionlib::SimpleActionClient< ActionSpec >::SimpleFeedbackCallback

Definition at line 78 of file simple_action_client.h.


Constructor & Destructor Documentation

template<class ActionSpec>
actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient ( const std::string &  name,
bool  spin_thread = true 
) [inline]

Simple constructor.

Constructs a SingleGoalActionClient and sets up the necessary ros topics for the ActionInterface

Parameters:
name The action name. Defines the namespace in which the action communicates
spin_thread If true, spins up a thread to service this action's subscriptions. If false, then the user has to call ros::spin() themselves. Defaults to True

Definition at line 88 of file simple_action_client.h.

template<class ActionSpec>
actionlib::SimpleActionClient< ActionSpec >::SimpleActionClient ( ros::NodeHandle &  n,
const std::string &  name,
bool  spin_thread = true 
) [inline]

Constructor with namespacing options.

Constructs a SingleGoalActionClient and sets up the necessary ros topics for the ActionInterface, and namespaces them according the a specified NodeHandle

Parameters:
n The node handle on top of which we want to namespace our action
name The action name. Defines the namespace in which the action communicates
spin_thread If true, spins up a thread to service this action's subscriptions. If false, then the user has to call ros::spin() themselves. Defaults to True

Definition at line 103 of file simple_action_client.h.

template<class ActionSpec >
actionlib::SimpleActionClient< ActionSpec >::~SimpleActionClient (  )  [inline]

Definition at line 261 of file simple_action_client.h.


Member Function Documentation

template<class ActionSpec>
actionlib::SimpleActionClient< ActionSpec >::ACTION_DEFINITION ( ActionSpec   )  [private]
template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::cancelAllGoals (  )  [inline]

Cancel all goals currently running on the action server.

This preempts all goals running on the action server at the point that this message is serviced by the ActionServer.

Definition at line 404 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::cancelGoal (  )  [inline]

Cancel the goal that we are currently pursuing.

Definition at line 416 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::cancelGoalsAtAndBeforeTime ( const ros::Time &  time  )  [inline]

Cancel all goals that were stamped at and before the specified time.

Parameters:
time All goals stamped at or before `time` will be canceled

Definition at line 410 of file simple_action_client.h.

template<class ActionSpec >
SimpleActionClient< ActionSpec >::ResultConstPtr actionlib::SimpleActionClient< ActionSpec >::getResult (  )  [inline]

Get the Result of the current goal.

Returns:
shared pointer to the result. Note that this pointer will NEVER be NULL

Definition at line 391 of file simple_action_client.h.

template<class ActionSpec >
SimpleClientGoalState actionlib::SimpleActionClient< ActionSpec >::getState (  )  [inline]

Get the state information for this goal.

Possible States Are: PENDING, ACTIVE, RECALLED, REJECTED, PREEMPTED, ABORTED, SUCCEEDED, LOST.

Returns:
The goal's state. Returns LOST if this SimpleActionClient isn't tracking a goal.

Definition at line 327 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::handleFeedback ( GoalHandleT  gh,
const FeedbackConstPtr &  feedback 
) [inline, private]

Definition at line 433 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::handleTransition ( GoalHandleT  gh  )  [inline, private]

Definition at line 444 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::initSimpleClient ( ros::NodeHandle &  n,
const std::string &  name,
bool  spin_thread 
) [inline, private]

Definition at line 244 of file simple_action_client.h.

template<class ActionSpec>
bool actionlib::SimpleActionClient< ActionSpec >::isServerConnected (  )  [inline]

Checks if the action client is successfully connected to the action server.

Returns:
True if the server is connected, false otherwise

Definition at line 126 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::sendGoal ( const Goal &  goal,
SimpleDoneCallback  done_cb = SimpleDoneCallback(),
SimpleActiveCallback  active_cb = SimpleActiveCallback(),
SimpleFeedbackCallback  feedback_cb = SimpleFeedbackCallback() 
) [inline]

Sends a goal to the ActionServer, and also registers callbacks.

If a previous goal is already active when this is called. We simply forget about that goal and start tracking the new goal. No cancel requests are made.

Parameters:
done_cb Callback that gets called on transitions to Done
active_cb Callback that gets called on transitions to Active
feedback_cb Callback that gets called whenever feedback for this goal is received

Definition at line 306 of file simple_action_client.h.

template<class ActionSpec >
SimpleClientGoalState actionlib::SimpleActionClient< ActionSpec >::sendGoalAndWait ( const Goal &  goal,
const ros::Duration &  execute_timeout = ros::Duration(0,0),
const ros::Duration &  preempt_timeout = ros::Duration(0,0) 
) [inline]

Sends a goal to the ActionServer, and waits until the goal completes or a timeout is exceeded.

If the goal doesn't complete by the execute_timeout, then a preempt message is sent. This call then waits up to the preempt_timeout for the goal to then finish.

Parameters:
goal The goal to be sent to the ActionServer
execute_timeout Time to wait until a preempt is sent. 0 implies wait forever
preempt_timeout Time to wait after a preempt is sent. 0 implies wait forever
Returns:
The state of the goal when this call is completed

Definition at line 574 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::setSimpleState ( const SimpleGoalState next_state  )  [inline, private]

Definition at line 297 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::setSimpleState ( const SimpleGoalState::StateEnum next_state  )  [inline, private]

Definition at line 291 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::spinThread (  )  [inline, private]

Definition at line 277 of file simple_action_client.h.

template<class ActionSpec >
void actionlib::SimpleActionClient< ActionSpec >::stopTrackingGoal (  )  [inline]

Stops tracking the state of the current goal. Unregisters this goal's callbacks.

This is useful if we want to make sure we stop calling our callbacks before sending a new goal. Note that this does not cancel the goal, it simply stops looking for status info about this goal.

Definition at line 425 of file simple_action_client.h.

template<class ActionSpec >
bool actionlib::SimpleActionClient< ActionSpec >::waitForResult ( const ros::Duration &  timeout = ros::Duration(0,0)  )  [inline]

Blocks until this goal finishes.

Parameters:
timeout Max time to block before returning. A zero timeout is interpreted as an infinite timeout.
Returns:
True if the goal finished. False if the goal didn't finish within the allocated timeout

Definition at line 533 of file simple_action_client.h.

template<class ActionSpec>
bool actionlib::SimpleActionClient< ActionSpec >::waitForServer ( const ros::Duration &  timeout = ros::Duration(0,0)  )  [inline]

Waits for the ActionServer to connect to this client.

Often, it can take a second for the action server & client to negotiate a connection, thus, risking the first few goals to be dropped. This call lets the user wait until the network connection to the server is negotiated

Parameters:
timeout Max time to block before returning. A zero timeout is interpreted as an infinite timeout.
Returns:
True if the server connected in the allocated time. False on timeout

Definition at line 120 of file simple_action_client.h.


Member Data Documentation

template<class ActionSpec>
boost::scoped_ptr<ActionClientT> actionlib::SimpleActionClient< ActionSpec >::ac_ [private]

Definition at line 230 of file simple_action_client.h.

template<class ActionSpec>
SimpleActiveCallback actionlib::SimpleActionClient< ActionSpec >::active_cb_ [private]

Definition at line 221 of file simple_action_client.h.

template<class ActionSpec>
ros::CallbackQueue actionlib::SimpleActionClient< ActionSpec >::callback_queue [private]

Definition at line 228 of file simple_action_client.h.

template<class ActionSpec>
SimpleGoalState actionlib::SimpleActionClient< ActionSpec >::cur_simple_state_ [private]

Definition at line 213 of file simple_action_client.h.

template<class ActionSpec>
SimpleDoneCallback actionlib::SimpleActionClient< ActionSpec >::done_cb_ [private]

Definition at line 220 of file simple_action_client.h.

template<class ActionSpec>
boost::condition actionlib::SimpleActionClient< ActionSpec >::done_condition_ [private]

Definition at line 216 of file simple_action_client.h.

template<class ActionSpec>
boost::mutex actionlib::SimpleActionClient< ActionSpec >::done_mutex_ [private]

Definition at line 217 of file simple_action_client.h.

template<class ActionSpec>
SimpleFeedbackCallback actionlib::SimpleActionClient< ActionSpec >::feedback_cb_ [private]

Definition at line 222 of file simple_action_client.h.

template<class ActionSpec>
GoalHandleT actionlib::SimpleActionClient< ActionSpec >::gh_ [private]

Definition at line 211 of file simple_action_client.h.

template<class ActionSpec>
bool actionlib::SimpleActionClient< ActionSpec >::need_to_terminate_ [private]

Definition at line 226 of file simple_action_client.h.

template<class ActionSpec>
ros::NodeHandle actionlib::SimpleActionClient< ActionSpec >::nh_ [private]

Definition at line 210 of file simple_action_client.h.

template<class ActionSpec>
boost::thread* actionlib::SimpleActionClient< ActionSpec >::spin_thread_ [private]

Definition at line 227 of file simple_action_client.h.

template<class ActionSpec>
boost::mutex actionlib::SimpleActionClient< ActionSpec >::terminate_mutex_ [private]

Definition at line 225 of file simple_action_client.h.


The documentation for this class was generated from the following file:
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actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Jan 11 09:41:44 2013