SMACC2
smacc_action_client.hpp
Go to the documentation of this file.
1// Copyright 2021 RobosoftAI 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/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20
21#pragma once
22
25
26#include <rclcpp_action/client.hpp>
27
28namespace smacc2
29{
30namespace client_bases
31{
32// This class interface shows the basic set of methods that
33// a SMACC "resource" or "plugin" Action Client has
35{
36public:
38
39 // The destructor. This is called when the object is not
40 // referenced anymore by its owner
41 virtual ~ISmaccActionClient();
42
43 // Gets the ros path of the action...
44 inline std::string getNamespace() const { return name_; }
45
46 virtual bool cancelGoal() = 0;
47
48 virtual std::shared_ptr<rclcpp_action::ClientBase> getClientBase() = 0;
49
50 virtual std::string getName() const { return name_; }
51
52protected:
53 // The ros path where the action server is located
54 std::string name_;
55};
56} // namespace client_bases
57} // namespace smacc2
virtual std::shared_ptr< rclcpp_action::ClientBase > getClientBase()=0