status_tracker_imp.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ACTIONLIB_STATUS_TRACKER_IMP_H_
00038 #define ACTIONLIB_STATUS_TRACKER_IMP_H_
00039 namespace actionlib {
00040   template <class ActionSpec>
00041   StatusTracker<ActionSpec>::StatusTracker(const actionlib_msgs::GoalID& goal_id, unsigned int status){
00042     //set the goal id and status appropriately
00043     status_.goal_id = goal_id;
00044     status_.status = status;
00045   }
00046 
00047   template <class ActionSpec>
00048   StatusTracker<ActionSpec>::StatusTracker(const boost::shared_ptr<const ActionGoal>& goal)
00049     : goal_(goal) {
00050       //set the goal_id from the message
00051       status_.goal_id = goal_->goal_id;
00052 
00053       //initialize the status of the goal to pending
00054       status_.status = actionlib_msgs::GoalStatus::PENDING;
00055 
00056       //if the goal id is zero, then we need to make up an id for the goal
00057       if(status_.goal_id.id == ""){
00058         status_.goal_id = id_generator_.generateID();
00059       }
00060 
00061       //if the timestamp of the goal is zero, then we'll set it to now()
00062       if(status_.goal_id.stamp == ros::Time()){
00063         status_.goal_id.stamp = ros::Time::now();
00064       }
00065     }
00066 };
00067 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Aug 28 2015 10:04:41