/usr/include/actionlib/client/service_client.h is in libactionlib-dev 1.11.12-1.
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
#define ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
#include <actionlib/action_definition.h>
#include <actionlib/client/simple_action_client.h>
#include <string>
namespace actionlib
{
class ServiceClientImp
{
public:
ServiceClientImp() {}
virtual bool call(const void * goal, std::string goal_md5sum, void * result,
std::string result_md5sum) = 0;
virtual bool waitForServer(const ros::Duration & timeout) = 0;
virtual bool isServerConnected() = 0;
virtual ~ServiceClientImp() {}
};
class ServiceClient
{
public:
ServiceClient(boost::shared_ptr<ServiceClientImp> client)
: client_(client) {}
template<class Goal, class Result>
bool call(const Goal & goal, Result & result);
bool waitForServer(const ros::Duration & timeout = ros::Duration(0, 0));
bool isServerConnected();
private:
boost::shared_ptr<ServiceClientImp> client_;
};
template<class ActionSpec>
ServiceClient serviceClient(ros::NodeHandle n, std::string name);
template<class ActionSpec>
class ServiceClientImpT : public ServiceClientImp
{
public:
ACTION_DEFINITION(ActionSpec);
typedef ClientGoalHandle<ActionSpec> GoalHandleT;
typedef SimpleActionClient<ActionSpec> SimpleActionClientT;
ServiceClientImpT(ros::NodeHandle n, std::string name);
bool call(const void * goal, std::string goal_md5sum, void * result, std::string result_md5sum);
bool waitForServer(const ros::Duration & timeout);
bool isServerConnected();
private:
boost::scoped_ptr<SimpleActionClientT> ac_;
};
} // namespace actionlib
// include the implementation
#include <actionlib/client/service_client_imp.h>
#endif // ACTIONLIB__CLIENT__SERVICE_CLIENT_H_
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