niryo_libraries.actionlib.server_goal_handle.ServerGoalHandle

class documentation

class ServerGoalHandle:

Constructor: ServerGoalHandle(status_tracker, action_server, handle_tracker)

View In Hierarchy

  • @class ServerGoalHandle
  • @brief Encapsulates a state machine for a given goal that the user can
  • trigger transisions on. All ROS interfaces for the goal are managed by
  • the ActionServer to lessen the burden on the user.

Method __eq__ Equals operator for ServerGoalHandles @param other The ServerGoalHandle to compare to @return True if the ServerGoalHandles refer to the same goal, false otherwise
Method __hash__ hash function for ServerGoalHandles @return hash of the goal ID
Method __init__ A private constructor used by the ActionServer to initialize a ServerGoalHandle. @node The default constructor was not ported.
Method __ne__ != operator for ServerGoalHandles @param other The ServerGoalHandle to compare to @return True if the ServerGoalHandles refer to different goals, false otherwise
Method get_default_result Undocumented
Method get_goal Accessor for the goal associated with the ServerGoalHandle @return A shared_ptr to the goal object
Method get_goal_id Accessor for the goal id associated with the ServerGoalHandle @return The goal id
Method get_goal_status Accessor for the status associated with the ServerGoalHandle @return The goal status
Method publish_feedback Send feedback to any clients of the goal associated with this ServerGoalHandle @param feedback The feedback to send to the client
Method set_aborted Set the status of the goal associated with the ServerGoalHandle to aborted @param result Optionally, the user can pass in a result to be sent to any clients of the goal
Method set_accepted Accept the goal referenced by the goal handle. This will transition to the ACTIVE state or the PREEMPTING state depending on whether a cancel request has been received for the goal
Method set_cancel_requested A private method to set status to PENDING or RECALLING @return True if the cancel request should be passed on to the user, false otherwise
Method set_canceled Set the status of the goal associated with the ServerGoalHandle to RECALLED or PREEMPTED depending on what the current status of the goal is @param result Optionally, the user can pass in a result to be sent to any clients of the goal...
Method set_rejected @brief Set the status of the goal associated with the ServerGoalHandle to rejected
Method set_succeeded Set the status of the goal associated with the ServerGoalHandle to succeeded @param result Optionally, the user can pass in a result to be sent to any clients of the goal
Instance Variable action_server Undocumented
Instance Variable goal Undocumented
Instance Variable handle_tracker Undocumented
Instance Variable status_tracker Undocumented
def __eq__(self, other):

Equals operator for ServerGoalHandles @param other The ServerGoalHandle to compare to @return True if the ServerGoalHandles refer to the same goal, false otherwise

def __hash__(self):

hash function for ServerGoalHandles @return hash of the goal ID

def __init__(self, status_tracker=None, action_server=None, handle_tracker=None):

A private constructor used by the ActionServer to initialize a ServerGoalHandle. @node The default constructor was not ported.

def __ne__(self, other):

!= operator for ServerGoalHandles @param other The ServerGoalHandle to compare to @return True if the ServerGoalHandles refer to different goals, false otherwise

def get_default_result(self):

Undocumented

def get_goal(self):

Accessor for the goal associated with the ServerGoalHandle @return A shared_ptr to the goal object

def get_goal_id(self):

Accessor for the goal id associated with the ServerGoalHandle @return The goal id

def get_goal_status(self):

Accessor for the status associated with the ServerGoalHandle @return The goal status

def publish_feedback(self, feedback):

Send feedback to any clients of the goal associated with this ServerGoalHandle @param feedback The feedback to send to the client

def set_aborted(self, result=None, text=''):

Set the status of the goal associated with the ServerGoalHandle to aborted @param result Optionally, the user can pass in a result to be sent to any clients of the goal

def set_accepted(self, text=''):

Accept the goal referenced by the goal handle. This will transition to the ACTIVE state or the PREEMPTING state depending on whether a cancel request has been received for the goal

def set_cancel_requested(self):

A private method to set status to PENDING or RECALLING @return True if the cancel request should be passed on to the user, false otherwise

def set_canceled(self, result=None, text=''):

Set the status of the goal associated with the ServerGoalHandle to RECALLED or PREEMPTED depending on what the current status of the goal is @param result Optionally, the user can pass in a result to be sent to any clients of the goal

def set_rejected(self, result=None, text=''):

  • @brief Set the status of the goal associated with the ServerGoalHandle to rejected
  • @param result Optionally, the user can pass in a result to be sent to any clients of the goal

def set_succeeded(self, result=None, text=''):

Set the status of the goal associated with the ServerGoalHandle to succeeded @param result Optionally, the user can pass in a result to be sent to any clients of the goal

action_server =

Undocumented

goal =

Undocumented

handle_tracker =

Undocumented

status_tracker =

Undocumented