/usr/include/actionlib/client/service_client.h is in libactionlib-dev 1.11.4-2.
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*
* Software License Agreement (BSD License)
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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>
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_;
};
};
//include the implementation
#include <actionlib/client/service_client_imp.h>
#endif
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