sarafun::ExecuteAction< ActionClass, ActionGoal > Class Template Reference

#include <ExecuteAction.h>

Inheritance diagram for sarafun::ExecuteAction< ActionClass, ActionGoal >:

Collaboration diagram for sarafun::ExecuteAction< ActionClass, ActionGoal >:

Public Member Functions
	ExecuteAction (std::string node_name, std::string actionlib_name, std::string bt_name)
virtual	~ExecuteAction ()
int	executionRoutine ()
void	preemptionRoutine ()

Protected Member Functions
virtual bool	fillGoal (ActionGoal &goal)=0
virtual double	getTimeoutValue ()=0
bool	fillParameter (std::string param_name, std::string &param_val)
void	fillParameter (std::string param_name, std::string def, std::string &param_val)
void	fillParameter (std::string param_name, double def, double &param_val)
void	fillParameter (std::string param_name, int def, int &param_val)
bool	isSystemActive ()

Private Attributes
actionlib::SimpleActionClient < ActionClass > *	action_client_
ActionGoal	goal_
std::string	action_name_
ros::Time	start_time_

Detailed Description

template<class ActionClass, class ActionGoal>
class sarafun::ExecuteAction< ActionClass, ActionGoal >

This class implements an interface for BT actions destined to call a generic rosaction server.

It establishes a bridge between the behavior tree action class and an externally implemented action: BT <–> ExecuteAction <–> external implementation

Definition at line 17 of file ExecuteAction.h.

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

• ExecuteAction.h