ActionExecutorService< Service > Class Template Reference

Templated base class for creating action executors that call a service for execution. More...

#include <actionExecutorService.hpp>

Inheritance diagram for ActionExecutorService< Service >:

List of all members.

Public Member Functions
	ActionExecutorService ()
virtual void	cancelAction ()
	can't really do anything here
virtual bool	canExecute (const DurativeAction &a, const SymbolicState &current) const
	Determine if the action can be executed by this implementation.
virtual bool	executeBlocking (const DurativeAction &a, SymbolicState &current)
	Executes the action using SimpleActionClient.
virtual bool	fillGoal (typename Service::Request &goal, const DurativeAction &a, const SymbolicState &current)=0
	Fill the goal to execute this action.
virtual void	initialize (const std::deque< std::string > &arguments)
	Initialize the executor by creating the ServiceClient.
virtual void	updateState (bool success, typename Service::Response &response, const DurativeAction &a, SymbolicState &current)
	Update the state after an action was executed.
	~ActionExecutorService ()
Protected Attributes
std::string	_actionName
ros::NodeHandle *	_nh
ros::ServiceClient	_serviceClient

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Detailed Description

template<class Service>
class ActionExecutorService< Service >

Templated base class for creating action executors that call a service for execution.

The class is templated over the service.

A minimal implementation should derive from this class (instantiating the template properly) and implement fillGoal.

canExecute can be overridden to test more specific than just the name. updateState can be used to update the planner state upon execution depending on the result of the execution.

Definition at line 20 of file actionExecutorService.hpp.

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Constructor & Destructor Documentation

template<class Service >

ActionExecutorService< Service >::ActionExecutorService

(

)

Definition at line 73 of file actionExecutorService.hpp.

template<class Service >

ActionExecutorService< Service >::~ActionExecutorService

(

)

Definition at line 78 of file actionExecutorService.hpp.

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Member Function Documentation

template<class Service >

virtual void ActionExecutorService< Service >::cancelAction

(

)

[inline, virtual]

can't really do anything here

Implements continual_planning_executive::ActionExecutorInterface.

Definition at line 62 of file actionExecutorService.hpp.

template<class Service >

bool ActionExecutorService< Service >::canExecute	(	const DurativeAction &	a,
		const SymbolicState &	current
	)		const [virtual]

Determine if the action can be executed by this implementation.

Default implementation only compares _actionName with the name of the DurativeAction.

Implements continual_planning_executive::ActionExecutorInterface.

Definition at line 109 of file actionExecutorService.hpp.

template<class Service >

bool ActionExecutorService< Service >::executeBlocking	(	const DurativeAction &	a,
		SymbolicState &	current
	)		[virtual]

Executes the action using SimpleActionClient.

Implements continual_planning_executive::ActionExecutorInterface.

Definition at line 116 of file actionExecutorService.hpp.

template<class Service >

virtual bool ActionExecutorService< Service >::fillGoal	(	typename Service::Request &	goal,
		const DurativeAction &	a,
		const SymbolicState &	current
	)		[pure virtual]

Fill the goal to execute this action.

Parameters:

[out]	goal	the goal to be filled (i.e. the service's request part).
[in]	a	the DurativeAction that is to be executed.
[in]	current	the current state where a should be executd.

template<class Service >

void ActionExecutorService< Service >::initialize

(

const std::deque< std::string > &

arguments

)

[virtual]

Initialize the executor by creating the ServiceClient.

Parameters:

[in]

arguments

should be name of action (as in the plan), and the name of the service to connect to.

Reimplemented from continual_planning_executive::ActionExecutorInterface.

Definition at line 85 of file actionExecutorService.hpp.

template<class Service >

virtual void ActionExecutorService< Service >::updateState	(	bool	success,
		typename Service::Response &	response,
		const DurativeAction &	a,
		SymbolicState &	current
	)		[inline, virtual]

Update the state after an action was executed.

Parameters:

[in]	success	the return value of the service call
[in]	response	what the call returned
[in]	a	the action that was executed
[in,out]	current	the current planner state to be updated

Definition at line 58 of file actionExecutorService.hpp.

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Member Data Documentation

template<class Service >

std::string ActionExecutorService< Service >::_actionName [protected]

Definition at line 68 of file actionExecutorService.hpp.

template<class Service >

ros::NodeHandle* ActionExecutorService< Service >::_nh [protected]

Definition at line 65 of file actionExecutorService.hpp.

template<class Service >

ros::ServiceClient ActionExecutorService< Service >::_serviceClient [protected]

Definition at line 66 of file actionExecutorService.hpp.

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

• actionExecutorService.hpp