moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface Class Reference

Implements ClientInterfaceBase for the rclcpp action client. More...

#include <action_client_behavior_base.hpp>

Inheritance diagram for moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface:

Collaboration diagram for moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface:

Public Member Functions
	RclcppClientInterface (const std::shared_ptr< BehaviorContext > &behavior_context)
	Constructor for this implementation.
void	initialize (const std::string &action_name, std::chrono::duration< double > wait_for_server_timeout, std::chrono::duration< double > goal_response_timeout, std::chrono::duration< double > goal_result_timeout, std::chrono::duration< double > cancel_response_timeout) override
	Implementation of ClientInterfaceBase::initialize for an rclcpp action client.
bool	waitForActionServer () const override
	Implementation of ClientInterfaceBase::waitForActionServer for an rclcpp action client.
tl::expected< void, std::string >	syncSendGoal (const typename ActionT::Goal &goal, typename ClientGoalHandle::FeedbackCallback feedback_fn) override
	Implementation of ClientInterfaceBase::syncSendGoal for an rclcpp action client.
tl::expected< typename ActionClientBehaviorBase::ClientGoalHandle::WrappedResult, std::string >	syncGetResult (const std::string &timeout_message) const override
	Implementation of ClientInterfaceBase::syncGetResult for an rclcpp action client.
tl::expected< std::shared_ptr< typename ActionT::Impl::CancelGoalService::Response >, std::string >	syncCancelGoal () const override
	Implementation of ClientInterfaceBase::syncCancelGoal for an rclcpp action client.
Public Member Functions inherited from moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase
virtual	~ClientInterfaceBase ()=default

Detailed Description

template<typename ActionT>
class moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface

Implements ClientInterfaceBase for the rclcpp action client.

Constructor & Destructor Documentation

RclcppClientInterface()

template<typename ActionT >

moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::RclcppClientInterface ( const std::shared_ptr< BehaviorContext > &  behavior_context )

explicit

Constructor for this implementation.

Parameters

node	Node to use when initializing the action client.

Member Function Documentation

initialize()

template<typename ActionT >

void moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::initialize ( const std::string &  action_name, std::chrono::duration< double >  wait_for_server_timeout, std::chrono::duration< double >  goal_response_timeout, std::chrono::duration< double >  goal_result_timeout, std::chrono::duration< double >  cancel_response_timeout  )

overridevirtual

Implementation of ClientInterfaceBase::initialize for an rclcpp action client.

Sets client_ to a new action client instance

Implements moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.

syncCancelGoal()

template<typename ActionT >

tl::expected< std::shared_ptr< typename ActionT::Impl::CancelGoalService::Response >, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::syncCancelGoal ( ) const

overridevirtual

Implementation of ClientInterfaceBase::syncCancelGoal for an rclcpp action client.

Calls the action client's async_cancel_goal function and blocks while waiting on the future which it returns. This implementation also returns an error result if the action goal handle is not initialized or not in-progress.

Implements moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.

syncGetResult()

template<typename ActionT >

tl::expected< typename ActionClientBehaviorBase< ActionT >::ClientGoalHandle::WrappedResult, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::syncGetResult ( const std::string &  timeout_message ) const

overridevirtual

Implementation of ClientInterfaceBase::syncGetResult for an rclcpp action client.

Calls the action client's async_get_result function and blocks while waiting on the future which it returns. This implementation also returns an error result if the action goal handle is not initialized or not in-progress.

Implements moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.

syncSendGoal()

template<typename ActionT >

tl::expected< void, std::string > moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::syncSendGoal ( const typename ActionT::Goal &  goal, typename ClientGoalHandle::FeedbackCallback  feedback_fn  )

overridevirtual

Implementation of ClientInterfaceBase::syncSendGoal for an rclcpp action client.

Calls the action client's async_send_goal function and blocks while waiting on the future which it returns.

Implements moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.

waitForActionServer()

template<typename ActionT >

bool moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface::waitForActionServer ( ) const

overridevirtual

Implementation of ClientInterfaceBase::waitForActionServer for an rclcpp action client.

Calls the action client's wait_for_action_server function.

Implements moveit_pro::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase.

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

• action_client_behavior_base.hpp
• action_client_behavior_base_impl.hpp