From 6e8760cf7058623d827540f7e2a51a2920e40440 Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Fri, 21 Oct 2011 16:17:22 +0000
Subject: [PATCH] [iri_action_server] - adding preempt action to public API
---
include/iri_action_server/iri_action_server.h | 16 ++++++++++++++++
1 file changed, 16 insertions(+)
diff --git a/include/iri_action_server/iri_action_server.h b/include/iri_action_server/iri_action_server.h
index 8c63784..023b778 100755
--- a/include/iri_action_server/iri_action_server.h
+++ b/include/iri_action_server/iri_action_server.h
@@ -245,6 +245,16 @@ class IriActionServer
*/
void setAborted(const Result& result = Result(), const std::string& text = std::string(""));
+ /**
+ * \brief Preempt Action
+ *
+ * Calls the ROS simple action server to preempt current action
+ *
+ * \param result An optional result to send back to any clients of the goal
+ * \param text An optional text message to send back to any clients of the goal
+ */
+ void setPreempted(const Result& result = Result(), const std::string& text = std::string(""));
+
/**
* \brief Action is Active
*
@@ -383,6 +393,12 @@ void IriActionServer<ActionSpec>::setAborted(const Result& result, const std::st
as_.setAborted(result, text);
}
+template <class ActionSpec>
+void IriActionServer<ActionSpec>::setPreempted(const Result& result, const std::string& text)
+{
+ as_.setPreempted(result, text);
+}
+
template <class ActionSpec>
bool IriActionServer<ActionSpec>::isActive(void)
{
--
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