rclcpp_action
master
C++ ROS Action Client Library
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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... | |
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
.
typedef struct rclcpp_action::ClientGoalHandle::WrappedResult rclcpp_action::ClientGoalHandle< ActionT >::WrappedResult |
using rclcpp_action::ClientGoalHandle< ActionT >::Feedback = typename ActionT::Feedback |
using rclcpp_action::ClientGoalHandle< ActionT >::Result = typename ActionT::Result |
using rclcpp_action::ClientGoalHandle< ActionT >::FeedbackCallback = std::function<void ( typename ClientGoalHandle<ActionT>::SharedPtr, const std::shared_ptr<const Feedback>)> |
using rclcpp_action::ClientGoalHandle< ActionT >::ResultCallback = std::function<void (const WrappedResult & result)> |
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virtual |
const GoalUUID & rclcpp_action::ClientGoalHandle< ActionT >::get_goal_id |
Get the unique ID for the goal.
rclcpp::Time rclcpp_action::ClientGoalHandle< ActionT >::get_goal_stamp |
Get the time when the goal was accepted.
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::UnawareGoalHandleError | If the the goal handle is unaware of the result. |
int8_t rclcpp_action::ClientGoalHandle< ActionT >::get_status |
Get the goal status code.
bool rclcpp_action::ClientGoalHandle< ActionT >::is_feedback_aware |
Check if an action client has subscribed to feedback for the goal.
bool rclcpp_action::ClientGoalHandle< ActionT >::is_result_aware |
Check if an action client has requested the result for the goal.