Task< ActionT > Class Template Reference

#include <auto_apms_core/task.hpp>

Inheritance diagram for Task< ActionT >:

Public Types
using	Status = TaskStatus
using	ActionContextType = ActionContext<ActionT>
using	Goal = typename ActionContextType::Goal
using	Feedback = typename ActionContextType::Feedback
using	Result = typename ActionContextType::Result
using	GoalHandle = typename ActionContextType::GoalHandle

Public Member Functions
	Task (const std::string &name, rclcpp::Node::SharedPtr node_ptr, std::shared_ptr< ActionContextType > action_context_ptr, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
	Task (const std::string &name, rclcpp::Node::SharedPtr node_ptr, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
	Task (const std::string &name, const rclcpp::NodeOptions &options, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface () const

Static Public Attributes
static constexpr std::chrono::milliseconds	DEFAULT_VALUE_EXECUTION_INTERVAL { 10 }
static constexpr std::chrono::milliseconds	DEFAULT_VALUE_FEEDBACK_INTERVAL { 200 }
static constexpr char	PARAM_NAME_FEEDBACK_INTERVAL [] = "feedback_interval_ms"

Protected Attributes
rclcpp::Node::SharedPtr	node_ptr_
std::shared_ptr< ActionContextType >	action_context_ptr_

Detailed Description

template<typename ActionT>
class auto_apms_core::Task< ActionT >

Generic base class for robot actions.

A auto_apms_core::Task is esentially a wrapper for a rclcpp_action::Server providing convenient extension points.

Definition at line 51 of file task.hpp.

Member Typedef Documentation

Status

template<typename ActionT >

using Status = TaskStatus

Definition at line 54 of file task.hpp.

ActionContextType

template<typename ActionT >

using ActionContextType = ActionContext<ActionT>

Definition at line 55 of file task.hpp.

Goal

template<typename ActionT >

using Goal = typename ActionContextType::Goal

Definition at line 56 of file task.hpp.

Feedback

template<typename ActionT >

using Feedback = typename ActionContextType::Feedback

Definition at line 57 of file task.hpp.

Result

template<typename ActionT >

using Result = typename ActionContextType::Result

Definition at line 58 of file task.hpp.

GoalHandle

template<typename ActionT >

using GoalHandle = typename ActionContextType::GoalHandle

Definition at line 59 of file task.hpp.

Constructor & Destructor Documentation

Task() [1/3]

template<class ActionT >

Task ( const std::string & name, rclcpp::Node::SharedPtr node_ptr, std::shared_ptr< ActionContextType > action_context_ptr, std::chrono::milliseconds execution_interval = DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval = DEFAULT_VALUE_FEEDBACK_INTERVAL )

explicit

Parameters

Definition at line 117 of file task.hpp.

Task() [2/3]

template<class ActionT >

Task ( const std::string & name, rclcpp::Node::SharedPtr node_ptr, std::chrono::milliseconds execution_interval = DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval = DEFAULT_VALUE_FEEDBACK_INTERVAL )

explicit

Definition at line 138 of file task.hpp.

Task() [3/3]

template<class ActionT >

Task ( const std::string & name, const rclcpp::NodeOptions & options, std::chrono::milliseconds execution_interval = DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval = DEFAULT_VALUE_FEEDBACK_INTERVAL )

explicit

Definition at line 146 of file task.hpp.

Member Function Documentation

get_node_base_interface()

template<class ActionT >

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface

(

)

const

Definition at line 154 of file task.hpp.

Member Data Documentation

DEFAULT_VALUE_EXECUTION_INTERVAL

template<typename ActionT >

std::chrono::milliseconds DEFAULT_VALUE_EXECUTION_INTERVAL { 10 }

staticconstexpr

Definition at line 61 of file task.hpp.

DEFAULT_VALUE_FEEDBACK_INTERVAL

template<typename ActionT >

std::chrono::milliseconds DEFAULT_VALUE_FEEDBACK_INTERVAL { 200 }

staticconstexpr

Definition at line 62 of file task.hpp.

PARAM_NAME_FEEDBACK_INTERVAL

template<typename ActionT >

char PARAM_NAME_FEEDBACK_INTERVAL[] = "feedback_interval_ms"

staticconstexpr

Definition at line 63 of file task.hpp.

node_ptr_

template<typename ActionT >

rclcpp::Node::SharedPtr node_ptr_

protected

Definition at line 106 of file task.hpp.

action_context_ptr_

template<typename ActionT >

std::shared_ptr<ActionContextType> action_context_ptr_

protected

Definition at line 107 of file task.hpp.

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

• auto_apms_core/include/auto_apms_core/task.hpp