moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase Class Referenceabstract
Provides an interface to an action client that can handle a single goal at a time. More...
#include <action_client_behavior_base.hpp>
Inheritance diagram for moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase:
Public Member Functions | |
| virtual | ~ClientInterfaceBase ()=default |
| virtual 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)=0 |
| Initialize the action client. More... | |
| virtual bool | waitForActionServer () const =0 |
| Block until the action server is ready or a timeout is exceeded. More... | |
| virtual tl::expected< void, std::string > | syncSendGoal (const typename ActionT::Goal &goal, typename ClientGoalHandle::FeedbackCallback feedback_fn)=0 |
| Send an action goal and block until the goal is accepted or a timeout is exceeded. More... | |
| virtual tl::expected< typename ActionClientBehaviorBase::ClientGoalHandle::WrappedResult, std::string > | syncGetResult () const =0 |
| Block until the in-progress action result is received or a timeout is exceeded. More... | |
| virtual tl::expected< std::shared_ptr< typename ActionT::Impl::CancelGoalService::Response >, std::string > | syncCancelGoal () const =0 |
| Send a request to cancel an in-progress action goal and block until the cancellation request is accepted or a timeout is exceeded. More... | |
Detailed Description
template<typename ActionT>
class moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::ClientInterfaceBase
Provides an interface to an action client that can handle a single goal at a time.
Constructor & Destructor Documentation
◆ ~ClientInterfaceBase()
template<typename ActionT >
|
virtualdefault |
Member Function Documentation
◆ initialize()
template<typename ActionT >
|
pure virtual |
Initialize the action client.
- Parameters
-
action_name Action name to use when initializing the client. wait_for_server_timeout Duration to wait for the action server to be available before failing. goal_response_timeout Duration to wait for a goal response before failing. goal_result_timeout Duration to wait for a result before failing. If the duration is negative, wait forever. cancel_response_timeout Duration to wait for a cancel response before failing.
Implemented in moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.
◆ syncCancelGoal()
template<typename ActionT >
|
pure virtual |
Send a request to cancel an in-progress action goal and block until the cancellation request is accepted or a timeout is exceeded.
- Returns
- If a cancel response was received, return the cancel response message. If the timeout limit was reached or if the action goal could not be canceled, return an error result describing the failure.
Implemented in moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.
◆ syncGetResult()
template<typename ActionT >
|
pure virtual |
Block until the in-progress action result is received or a timeout is exceeded.
- Returns
- If an action result was received, return the WrappedResult received from the action server. If the timeout limits was reached before the WrappedResult was received, return an error result.
Implemented in moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.
◆ syncSendGoal()
template<typename ActionT >
|
pure virtual |
Send an action goal and block until the goal is accepted or a timeout is exceeded.
- Parameters
-
goal Action goal message to send to the action server. feedback_fn Function to execute when the action goal handle received feedback from the server during execution.
- Returns
- If successful, return void. If the goal request failed to send or timed out before the goal response was received, return an error result describing the failure.
Implemented in moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.
◆ waitForActionServer()
template<typename ActionT >
|
pure virtual |
Block until the action server is ready or a timeout is exceeded.
- Returns
- True if the action server was found to be available before the timeout. False if it was not.
Implemented in moveit_studio::behaviors::ActionClientBehaviorBase< ActionT >::RclcppClientInterface.
The documentation for this class was generated from the following file:
