15 #ifndef RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_ 16 #define RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_ 20 #include <action_msgs/msg/goal_status.hpp> 37 UNKNOWN = action_msgs::msg::GoalStatus::STATUS_UNKNOWN,
38 SUCCEEDED = action_msgs::msg::GoalStatus::STATUS_SUCCEEDED,
39 CANCELED = action_msgs::msg::GoalStatus::STATUS_CANCELED,
40 ABORTED = action_msgs::msg::GoalStatus::STATUS_ABORTED
45 template<
typename ActionT>
57 template<
typename ActionT>
71 typename ActionT::Result::SharedPtr
result;
75 using Result =
typename ActionT::Result;
90 get_goal_stamp()
const;
133 call_feedback_callback(
138 set_result_awareness(
bool awareness);
141 set_status(int8_t status);
151 bool is_result_aware_{
false};
157 int8_t status_{GoalStatus::STATUS_ACCEPTED};
164 #endif // RCLCPP_ACTION__CLIENT_GOAL_HANDLE_HPP_
ActionT::Result::SharedPtr result
User defined fields sent back with an action.
Definition: client_goal_handle.hpp:71
Definition: client_goal_handle.hpp:64
Action Client.
Definition: client.hpp:255
GoalUUID goal_id
The unique identifier of the goal.
Definition: client_goal_handle.hpp:67
ResultCode
The possible statuses that an action goal can finish with.
Definition: client_goal_handle.hpp:35
typename ActionT::Result Result
Definition: client_goal_handle.hpp:75
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
ResultCode code
A status to indicate if the goal was canceled, aborted, or suceeded.
Definition: client_goal_handle.hpp:69
action_msgs::msg::GoalInfo GoalInfo
Definition: types.hpp:34
Definition: client.hpp:44
Class for interacting with goals sent from action clients.
Definition: client_goal_handle.hpp:58
typename ActionT::Feedback Feedback
Definition: client_goal_handle.hpp:74