rclcpp_action::ClientGoalHandle< ActionT > Class Template Reference

Class for interacting with goals sent from action clients. More...

#include <client_goal_handle.hpp>

Classes
struct	WrappedResult

Public Types
typedef struct rclcpp_action::ClientGoalHandle::WrappedResult	WrappedResult
using	Feedback = typename ActionT::Feedback
using	Result = typename ActionT::Result
using	FeedbackCallback = std::function< void(typename ClientGoalHandle< ActionT >::SharedPtr, const std::shared_ptr< const Feedback >)>
using	ResultCallback = std::function< void(const WrappedResult &result)>

Public Member Functions
virtual	~ClientGoalHandle ()
const GoalUUID &	get_goal_id () const
	Get the unique ID for the goal. More...
rclcpp::Time	get_goal_stamp () const
	Get the time when the goal was accepted. More...
std::shared_future< WrappedResult >	async_result ()
	Get a future to the goal result. More...
int8_t	get_status ()
	Get the goal status code. More...
bool	is_feedback_aware ()
	Check if an action client has subscribed to feedback for the goal. More...
bool	is_result_aware ()
	Check if an action client has requested the result for the goal. More...

Detailed Description

template<typename ActionT>
class rclcpp_action::ClientGoalHandle< ActionT >

Class for interacting with goals sent from action clients.

Use this class to check the status of a goal as well as get the result.

This class is not meant to be created by a user, instead it is created when a goal has been accepted. A Client will create an instance and return it to the user (via a future) after calling Client::async_send_goal.

Member Typedef Documentation

WrappedResult

template<typename ActionT>

typedef struct rclcpp_action::ClientGoalHandle::WrappedResult rclcpp_action::ClientGoalHandle< ActionT >::WrappedResult

Feedback

template<typename ActionT>

using rclcpp_action::ClientGoalHandle< ActionT >::Feedback = typename ActionT::Feedback

Result

template<typename ActionT>

using rclcpp_action::ClientGoalHandle< ActionT >::Result = typename ActionT::Result

FeedbackCallback

template<typename ActionT>

using rclcpp_action::ClientGoalHandle< ActionT >::FeedbackCallback = std::function<void ( typename ClientGoalHandle<ActionT>::SharedPtr, const std::shared_ptr<const Feedback>)>

ResultCallback

template<typename ActionT>

using rclcpp_action::ClientGoalHandle< ActionT >::ResultCallback = std::function<void (const WrappedResult & result)>

Constructor & Destructor Documentation

~ClientGoalHandle()

template<typename ActionT >

rclcpp_action::ClientGoalHandle< ActionT >::~ClientGoalHandle ( )

virtual

Member Function Documentation

get_goal_id()

template<typename ActionT >

const GoalUUID & rclcpp_action::ClientGoalHandle< ActionT >::get_goal_id

(

)

const

Get the unique ID for the goal.

get_goal_stamp()

template<typename ActionT >

rclcpp::Time rclcpp_action::ClientGoalHandle< ActionT >::get_goal_stamp

(

)

const

Get the time when the goal was accepted.

async_result()

template<typename ActionT >

std::shared_future< typename ClientGoalHandle< ActionT >::WrappedResult > rclcpp_action::ClientGoalHandle< ActionT >::async_result

(

)

Get a future to the goal result.

This method should not be called if the ignore_result flag was set when sending the original goal request (see Client::async_send_goal).

is_result_aware() can be used to check if it is safe to call this method.

Exceptions

exceptions::UnawareGoalHandleError

If the the goal handle is unaware of the result.

Returns

A future to the result.

get_status()

template<typename ActionT >

int8_t rclcpp_action::ClientGoalHandle< ActionT >::get_status

(

)

Get the goal status code.

is_feedback_aware()

template<typename ActionT >

bool rclcpp_action::ClientGoalHandle< ActionT >::is_feedback_aware

(

)

Check if an action client has subscribed to feedback for the goal.

is_result_aware()

template<typename ActionT >

bool rclcpp_action::ClientGoalHandle< ActionT >::is_result_aware

(

)

Check if an action client has requested the result for the goal.

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

• include/rclcpp_action/client_goal_handle.hpp
• include/rclcpp_action/client_goal_handle_impl.hpp