rclcpp  master
C++ ROS Client Library API
any_executable.hpp
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1 // Copyright 2015 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__ANY_EXECUTABLE_HPP_
16 #define RCLCPP__ANY_EXECUTABLE_HPP_
17 
18 #include <memory>
19 
21 #include "rclcpp/client.hpp"
22 #include "rclcpp/macros.hpp"
24 #include "rclcpp/service.hpp"
25 #include "rclcpp/subscription.hpp"
26 #include "rclcpp/timer.hpp"
28 
29 namespace rclcpp
30 {
31 namespace executor
32 {
33 
35 {
37  AnyExecutable();
38 
40  virtual ~AnyExecutable();
41 
42  // Only one of the following pointers will be set.
43  rclcpp::SubscriptionBase::SharedPtr subscription;
44  rclcpp::SubscriptionBase::SharedPtr subscription_intra_process;
45  rclcpp::TimerBase::SharedPtr timer;
46  rclcpp::ServiceBase::SharedPtr service;
47  rclcpp::ClientBase::SharedPtr client;
48  // These are used to keep the scope on the containing items
49  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
50  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base;
51 };
52 
53 } // namespace executor
54 } // namespace rclcpp
55 
56 #endif // RCLCPP__ANY_EXECUTABLE_HPP_
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group
Definition: any_executable.hpp:49
rclcpp::SubscriptionBase::SharedPtr subscription
Definition: any_executable.hpp:43
rclcpp::ServiceBase::SharedPtr service
Definition: any_executable.hpp:46
rclcpp::ClientBase::SharedPtr client
Definition: any_executable.hpp:47
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base
Definition: any_executable.hpp:50
Definition: allocator_common.hpp:24
rclcpp::TimerBase::SharedPtr timer
Definition: any_executable.hpp:45
rclcpp::SubscriptionBase::SharedPtr subscription_intra_process
Definition: any_executable.hpp:44
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Definition: any_executable.hpp:34