00001 /* 00002 * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions 00006 * are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 00016 * 3. Neither the name of the copyright holder nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 * 00033 * recovery_action.h 00034 * 00035 * authors: 00036 * Sebastian Pütz <spuetz@uni-osnabrueck.de> 00037 * Jorge Santos Simón <santos@magazino.eu> 00038 * 00039 */ 00040 00041 #ifndef MBF_ABSTRACT_NAV__RECOVERY_ACTION_H_ 00042 #define MBF_ABSTRACT_NAV__RECOVERY_ACTION_H_ 00043 00044 #include "mbf_abstract_nav/abstract_action.h" 00045 #include "mbf_abstract_nav/abstract_recovery_execution.h" 00046 #include "mbf_abstract_nav/robot_information.h" 00047 #include <actionlib/server/action_server.h> 00048 #include <mbf_msgs/RecoveryAction.h> 00049 #include <boost/thread/condition_variable.hpp> 00050 00051 namespace mbf_abstract_nav{ 00052 00053 class RecoveryAction : public AbstractAction<mbf_msgs::RecoveryAction, AbstractRecoveryExecution> 00054 { 00055 public: 00056 00057 typedef boost::shared_ptr<RecoveryAction> Ptr; 00058 00059 RecoveryAction(const std::string& name, const RobotInformation &robot_info); 00060 00061 void run(GoalHandle &goal_handle, AbstractRecoveryExecution &execution); 00062 00063 }; 00064 00065 } 00066 00067 00068 #endif //MBF_ABSTRACT_NAV__RECOVERY_ACTION_H_