ROSEE::RosActionServer Class Reference

#include <RosActionServer.h>

Public Member Functions
void	abortGoal (std::string errorMsg="")
rosee_msg::ROSEEActionControl	getGoal ()
double	getWantedNormError () const
	in message there is a field where norm error of joint position can be set If it is not present in the message sent (thus it is 0) the DEFAULT_ERROR_NORM is used More...
bool	hasGoal () const
bool	hasNewGoal () const
	RosActionServer (std::string topicForAction, ros::NodeHandle *nh)
void	sendComplete ()
void	sendFeedback (double completation_percentage, std::string currentAction)
	send Feedback to the client who has requested the goal. More...
	~RosActionServer ()

Protected Member Functions
void	goalReceivedCallback ()
void	preemptReceivedCallback ()

Protected Attributes
actionlib::SimpleActionServer< rosee_msg::ROSEECommandAction >	_actionServer
rosee_msg::ROSEEActionControl	actionControlMsg
bool	goalInExecution
bool	newGoal
ros::NodeHandle *	nh
std::string	topicForAction
double	wantedNormError

Detailed Description

Todo:

write docs

Definition at line 32 of file RosActionServer.h.

Constructor & Destructor Documentation

RosActionServer()

ROSEE::RosActionServer::RosActionServer	(	std::string	topicForAction,
		ros::NodeHandle *	nh
	)

Definition at line 19 of file RosActionServer.cpp.

~RosActionServer()

ROSEE::RosActionServer::~RosActionServer ( )

inline

Definition at line 36 of file RosActionServer.h.

Member Function Documentation

abortGoal()

void ROSEE::RosActionServer::abortGoal

(

std::string

errorMsg = ""

)

Definition at line 83 of file RosActionServer.cpp.

getGoal()

rosee_msg::ROSEEActionControl ROSEE::RosActionServer::getGoal

(

)

Definition at line 46 of file RosActionServer.cpp.

getWantedNormError()

double ROSEE::RosActionServer::getWantedNormError

(

)

const

in message there is a field where norm error of joint position can be set If it is not present in the message sent (thus it is 0) the DEFAULT_ERROR_NORM is used

Definition at line 42 of file RosActionServer.cpp.

goalReceivedCallback()

void ROSEE::RosActionServer::goalReceivedCallback ( )

protected

Definition at line 58 of file RosActionServer.cpp.

hasGoal()

bool ROSEE::RosActionServer::hasGoal

(

)

const

Definition at line 34 of file RosActionServer.cpp.

hasNewGoal()

bool ROSEE::RosActionServer::hasNewGoal

(

)

const

Definition at line 38 of file RosActionServer.cpp.

preemptReceivedCallback()

void ROSEE::RosActionServer::preemptReceivedCallback ( )

protected

Definition at line 72 of file RosActionServer.cpp.

sendComplete()

void ROSEE::RosActionServer::sendComplete

(

)

Definition at line 111 of file RosActionServer.cpp.

sendFeedback()

void ROSEE::RosActionServer::sendFeedback	(	double	completation_percentage,
		std::string	currentAction
	)

send Feedback to the client who has requested the goal.

Parameters

completation_percentage	the percentae that tells how much we have completed the action requested
currentAction	current action that is running. If it is empty, it is taken the name of the action from member actionControlMsg . You should passed not empty string when dealing with timed action (passing the inner action of the timed one)

Definition at line 95 of file RosActionServer.cpp.

Member Data Documentation

_actionServer

actionlib::SimpleActionServer<rosee_msg::ROSEECommandAction> ROSEE::RosActionServer::_actionServer

protected

Definition at line 65 of file RosActionServer.h.

actionControlMsg

rosee_msg::ROSEEActionControl ROSEE::RosActionServer::actionControlMsg

protected

Definition at line 66 of file RosActionServer.h.

goalInExecution

bool ROSEE::RosActionServer::goalInExecution

protected

Definition at line 67 of file RosActionServer.h.

newGoal

bool ROSEE::RosActionServer::newGoal

protected

Definition at line 68 of file RosActionServer.h.

nh

ros::NodeHandle* ROSEE::RosActionServer::nh

protected

Definition at line 63 of file RosActionServer.h.

topicForAction

std::string ROSEE::RosActionServer::topicForAction

protected

Definition at line 64 of file RosActionServer.h.

wantedNormError

double ROSEE::RosActionServer::wantedNormError

protected

Definition at line 69 of file RosActionServer.h.

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

• RosActionServer.h
• RosActionServer.cpp