[Personalrobots-commit] SF.net SVN: personalrobots:[21485] pkg/trunk

[<ei...@us...>]

Revision: 21485
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21485&view=rev
Author:   eitanme
Date:     2009-08-10 22:57:21 +0000 (Mon, 10 Aug 2009)

Log Message:
-----------
Moving nav_robot_actions to deprecated since it didn't seem to go through last time. Also, moving internal classes to the ActionServer outside to create smaller header files.

Modified Paths:
--------------
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server.h
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server_imp.h
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/goal_handle_imp.h
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter_imp.h
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker_imp.h

Added Paths:
-----------
    pkg/trunk/deprecated/nav_robot_actions/
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter.h
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/server_goal_handle.h
    pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker.h

Removed Paths:
-------------
    pkg/trunk/stacks/navigation/nav_robot_actions/

Modified: pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server.h	2009-08-10 22:56:55 UTC (rev 21484)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -46,6 +46,9 @@
 #include <actionlib/RequestType.h>
 #include <actionlib/enclosure_deleter.h>
 #include <actionlib/action_definition.h>
+#include <actionlib/server/status_tracker.h>
+#include <actionlib/server/handle_tracker_deleter.h>
+#include <actionlib/server/server_goal_handle.h>
 
 #include <list>
 
@@ -62,150 +65,16 @@
    */
   template <class ActionSpec>
   class ActionServer {
+    public:
+      //for convenience when referring to ServerGoalHandles
+      typedef ServerGoalHandle<ActionSpec> GoalHandle;
+
     private:
       //generates typedefs that we'll use to make our lives easier
       ACTION_DEFINITION(ActionSpec);
 
-      /**
-       * @class StatusTracker
-       * @brief A class for storing the status of each goal the action server
-       * is currently working on
-       */
-      class StatusTracker {
-        public:
-          StatusTracker(const GoalID& goal_id, unsigned int status);
-
-          StatusTracker(const boost::shared_ptr<const ActionGoal>& goal);
-
-          boost::shared_ptr<const ActionGoal> goal_;
-          boost::weak_ptr<void> handle_tracker_;
-          GoalStatus status_;
-          ros::Time handle_destruction_time_;
-      };
-
-      /**
-       * @class HandleTrackerDeleter
-       * @brief A class to help with tracking GoalHandles and removing goals
-       * from the status list when the last GoalHandle associated with a given
-       * goal is deleted.
-       */
-      //class to help with tracking status objects
-      class HandleTrackerDeleter {
-        public:
-          HandleTrackerDeleter(ActionServer<ActionSpec>* as,
-              typename std::list<StatusTracker>::iterator status_it);
-
-          void operator()(void* ptr);
-
-        private:
-          ActionServer<ActionSpec>* as_;
-          typename std::list<StatusTracker>::iterator status_it_;
-      };
-
     public:
       /**
-       * @class GoalHandle
-       * @brief Encapsulates a state machine for a given goal that the user can
-       * trigger transisions on. All ROS interfaces for the goal are managed by
-       * the ActionServer to lessen the burden on the user.
-       */
-      class GoalHandle {
-        public:
-          /**
-           * @brief  Default constructor for a GoalHandle
-           */
-          GoalHandle();
-
-          /** @brief  Accept the goal referenced by the goal handle. This will
-           * transition to the ACTIVE state or the PREEMPTING state depending
-           * on whether a cancel request has been received for the goal
-           */
-          void setAccepted();
-
-          /**
-           * @brief  Set the status of the goal associated with the GoalHandle to RECALLED or PREEMPTED
-           * depending on what the current status of the goal is
-           * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
-           */
-          void setCanceled(const Result& result = Result());
-
-          /**
-           * @brief  Set the status of the goal associated with the GoalHandle to rejected
-           * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
-           */
-          void setRejected(const Result& result = Result());
-
-          /**
-           * @brief  Set the status of the goal associated with the GoalHandle to aborted
-           * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
-           */
-          void setAborted(const Result& result = Result());
-
-          /**
-           * @brief  Set the status of the goal associated with the GoalHandle to succeeded
-           * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
-           */
-          void setSucceeded(const Result& result = Result());
-
-          /**
-           * @brief  Send feedback to any clients of the goal associated with this GoalHandle
-           * @param feedback The feedback to send to the client
-           */
-          void publishFeedback(const Feedback& feedback);
-
-          /**
-           * @brief  Accessor for the goal associated with the GoalHandle
-           * @return A shared_ptr to the goal object
-           */
-          boost::shared_ptr<const Goal> getGoal() const;
-
-          /**
-           * @brief  Accessor for the goal id associated with the GoalHandle
-           * @return The goal id
-           */
-          GoalID getGoalID() const;
-
-          /**
-           * @brief  Accessor for the status associated with the GoalHandle
-           * @return The goal status
-           */
-          GoalStatus getGoalStatus() const;
-
-          /**
-           * @brief  Equals operator for GoalHandles
-           * @param other The GoalHandle to compare to
-           * @return True if the GoalHandles refer to the same goal, false otherwise
-           */
-          bool operator==(const GoalHandle& other);
-
-          /**
-           * @brief  != operator for GoalHandles
-           * @param other The GoalHandle to compare to
-           * @return True if the GoalHandles refer to different goals, false otherwise
-           */
-          bool operator!=(const GoalHandle& other);
-
-        private:
-          /**
-           * @brief  A private constructor used by the ActionServer to initialize a GoalHandle
-           */
-          GoalHandle(typename std::list<StatusTracker>::iterator status_it,
-              ActionServer<ActionSpec>* as, boost::shared_ptr<void> handle_tracker);
-
-          /**
-           * @brief  A private method to set status to PENDING or RECALLING
-           * @return True if the cancel request should be passed on to the user, false otherwise
-           */
-          bool setCancelRequested();
-
-          typename std::list<StatusTracker>::iterator status_it_;
-          boost::shared_ptr<const ActionGoal> goal_;
-          ActionServer<ActionSpec>* as_;
-          boost::shared_ptr<void> handle_tracker_;
-          friend class ActionServer<ActionSpec>;
-      };
-
-      /**
        * @brief  Constructor for an ActionServer
        * @param  n A NodeHandle to create a namespace under
        * @param  name The name of the action
@@ -272,7 +141,7 @@
 
       ros::Timer status_timer_;
 
-      std::list<StatusTracker> status_list_;
+      std::list<StatusTracker<ActionSpec> > status_list_;
 
       boost::function<void (GoalHandle)> goal_callback_;
       boost::function<void (GoalHandle)> cancel_callback_;
@@ -280,14 +149,13 @@
       ros::Time last_cancel_;
       ros::Duration status_list_timeout_;
 
+      //we need to allow access to our private fields to our helper classes
+      friend class ServerGoalHandle<ActionSpec>;
+      friend class HandleTrackerDeleter<ActionSpec>;
 
   };
 };
 
-//Sinc all of this is templated things need to be header-based, but its still
-//nice to separate out the implementation which we'll include here
-#include <actionlib/server/status_tracker_imp.h>
-#include <actionlib/server/handle_tracker_deleter_imp.h>
-#include <actionlib/server/goal_handle_imp.h>
+//include the implementation
 #include <actionlib/server/action_server_imp.h>
 #endif

Modified: pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server_imp.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server_imp.h	2009-08-10 22:56:55 UTC (rev 21484)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/action_server_imp.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -100,7 +100,7 @@
     //we need to handle a cancel for the user
     ROS_DEBUG("The action server has received a new cancel request");
     bool goal_id_found = false;
-    for(typename std::list<StatusTracker>::iterator it = status_list_.begin(); it != status_list_.end(); ++it){
+    for(typename std::list<StatusTracker<ActionSpec> >::iterator it = status_list_.begin(); it != status_list_.end(); ++it){
       //check if the goal id is zero or if it is equal to the goal id of
       //the iterator or if the time of the iterator warrants a cancel
       if(
@@ -117,7 +117,7 @@
 
         if((*it).handle_tracker_.expired()){
           //if the handle tracker is expired, then we need to create a new one
-          HandleTrackerDeleter d(this, it);
+          HandleTrackerDeleter<ActionSpec> d(this, it);
           handle_tracker = boost::shared_ptr<void>((void *)NULL, d);
           (*it).handle_tracker_ = handle_tracker;
 
@@ -138,8 +138,8 @@
 
     //if the requested goal_id was not found, and it is non-zero, then we need to store the cancel request
     if(goal_id->id != ros::Time() && !goal_id_found){
-      typename std::list<StatusTracker>::iterator it = status_list_.insert(status_list_.end(),
-          StatusTracker(*goal_id, GoalStatus::RECALLING));
+      typename std::list<StatusTracker<ActionSpec> >::iterator it = status_list_.insert(status_list_.end(),
+          StatusTracker<ActionSpec> (*goal_id, GoalStatus::RECALLING));
       //start the timer for how long the status will live in the list without a goal handle to it
       (*it).handle_destruction_time_ = ros::Time::now();
     }
@@ -156,7 +156,7 @@
     ROS_DEBUG("The action server has received a new goal request");
 
     //we need to check if this goal already lives in the status list
-    for(typename std::list<StatusTracker>::iterator it = status_list_.begin(); it != status_list_.end(); ++it){
+    for(typename std::list<StatusTracker<ActionSpec> >::iterator it = status_list_.begin(); it != status_list_.end(); ++it){
       if(goal->goal_id.id == (*it).status_.goal_id.id){
 
         //if this is a request for a goal that has no active handles left,
@@ -171,10 +171,10 @@
     }
 
     //if the goal is not in our list, we need to create a StatusTracker associated with this goal and push it on
-    typename std::list<StatusTracker>::iterator it = status_list_.insert(status_list_.end(), StatusTracker(goal));
+    typename std::list<StatusTracker<ActionSpec> >::iterator it = status_list_.insert(status_list_.end(), StatusTracker<ActionSpec> (goal));
 
     //we need to create a handle tracker for the incoming goal and update the StatusTracker
-    HandleTrackerDeleter d(this, it);
+    HandleTrackerDeleter<ActionSpec> d(this, it);
     boost::shared_ptr<void> handle_tracker((void *)NULL, d);
     (*it).handle_tracker_ = handle_tracker;
 
@@ -205,7 +205,7 @@
     status_array.set_status_list_size(status_list_.size());
 
     unsigned int i = 0;
-    for(typename std::list<StatusTracker>::iterator it = status_list_.begin(); it != status_list_.end();){
+    for(typename std::list<StatusTracker<ActionSpec> >::iterator it = status_list_.begin(); it != status_list_.end();){
       status_array.status_list[i] = (*it).status_;
 
       //check if the item is due for deletion from the status list

Modified: pkg/trunk/stacks/common/actionlib/include/actionlib/server/goal_handle_imp.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/goal_handle_imp.h	2009-08-10 22:56:55 UTC (rev 21484)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/goal_handle_imp.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -38,10 +38,10 @@
 #define ACTIONLIB_GOAL_HANDLE_IMP_H_
 namespace actionlib {
   template <class ActionSpec>
-  ActionServer<ActionSpec>::GoalHandle::GoalHandle(){}
+  ServerGoalHandle<ActionSpec>::ServerGoalHandle(){}
 
   template <class ActionSpec>
-  void ActionServer<ActionSpec>::GoalHandle::setAccepted(){
+  void ServerGoalHandle<ActionSpec>::setAccepted(){
     ROS_DEBUG("Accepting goal, id: %.2f, stamp: %.2f", getGoalID().id.toSec(), getGoalID().stamp.toSec());
     if(goal_){
       unsigned int status = (*status_it_).status_.status;
@@ -61,11 +61,11 @@
             (*status_it_).status_.status);
     }
     else
-      ROS_ERROR("Attempt to set status on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to set status on an uninitialized ServerGoalHandle");
   }
 
   template <class ActionSpec>
-  void ActionServer<ActionSpec>::GoalHandle::setCanceled(const Result& result){
+  void ServerGoalHandle<ActionSpec>::setCanceled(const Result& result){
     ROS_DEBUG("Setting status to canceled on goal, id: %.2f, stamp: %.2f", getGoalID().id.toSec(), getGoalID().stamp.toSec());
     if(goal_){
       unsigned int status = (*status_it_).status_.status;
@@ -82,11 +82,11 @@
             (*status_it_).status_.status);
     }
     else
-      ROS_ERROR("Attempt to set status on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to set status on an uninitialized ServerGoalHandle");
   }
 
   template <class ActionSpec>
-  void ActionServer<ActionSpec>::GoalHandle::setRejected(const Result& result){
+  void ServerGoalHandle<ActionSpec>::setRejected(const Result& result){
     ROS_DEBUG("Setting status to rejected on goal, id: %.2f, stamp: %.2f", getGoalID().id.toSec(), getGoalID().stamp.toSec());
     if(goal_){
       unsigned int status = (*status_it_).status_.status;
@@ -99,11 +99,11 @@
             (*status_it_).status_.status);
     }
     else
-      ROS_ERROR("Attempt to set status on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to set status on an uninitialized ServerGoalHandle");
   }
 
   template <class ActionSpec>
-  void ActionServer<ActionSpec>::GoalHandle::setAborted(const Result& result){
+  void ServerGoalHandle<ActionSpec>::setAborted(const Result& result){
     ROS_DEBUG("Setting status to aborted on goal, id: %.2f, stamp: %.2f", getGoalID().id.toSec(), getGoalID().stamp.toSec());
     if(goal_){
       unsigned int status = (*status_it_).status_.status;
@@ -116,11 +116,11 @@
             status);
     }
     else
-      ROS_ERROR("Attempt to set status on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to set status on an uninitialized ServerGoalHandle");
   }
 
   template <class ActionSpec>
-  void ActionServer<ActionSpec>::GoalHandle::setSucceeded(const Result& result){
+  void ServerGoalHandle<ActionSpec>::setSucceeded(const Result& result){
     ROS_DEBUG("Setting status to succeeded on goal, id: %.2f, stamp: %.2f", getGoalID().id.toSec(), getGoalID().stamp.toSec());
     if(goal_){
       unsigned int status = (*status_it_).status_.status;
@@ -133,21 +133,21 @@
             status);
     }
     else
-      ROS_ERROR("Attempt to set status on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to set status on an uninitialized ServerGoalHandle");
   }
 
   template <class ActionSpec>
-  void ActionServer<ActionSpec>::GoalHandle::publishFeedback(const Feedback& feedback){
+  void ServerGoalHandle<ActionSpec>::publishFeedback(const Feedback& feedback){
     ROS_DEBUG("Publishing feedback for goal, id: %.2f, stamp: %.2f", getGoalID().id.toSec(), getGoalID().stamp.toSec());
     if(goal_) {
       as_->publishFeedback((*status_it_).status_, feedback);
     }
     else
-      ROS_ERROR("Attempt to publish feedback on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to publish feedback on an uninitialized ServerGoalHandle");
   }
 
   template <class ActionSpec>
-  boost::shared_ptr<const typename ActionServer<ActionSpec>::Goal> ActionServer<ActionSpec>::GoalHandle::getGoal() const{
+  boost::shared_ptr<const typename ServerGoalHandle<ActionSpec>::Goal> ServerGoalHandle<ActionSpec>::getGoal() const{
     //if we have a goal that is non-null
     if(goal_){
       //create the deleter for our goal subtype
@@ -158,27 +158,27 @@
   }
 
   template <class ActionSpec>
-  GoalID ActionServer<ActionSpec>::GoalHandle::getGoalID() const{
+  GoalID ServerGoalHandle<ActionSpec>::getGoalID() const{
     if(goal_)
       return (*status_it_).status_.goal_id;
     else{
-      ROS_ERROR("Attempt to get a goal id on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to get a goal id on an uninitialized ServerGoalHandle");
       return GoalID();
     }
   }
 
   template <class ActionSpec>
-  GoalStatus ActionServer<ActionSpec>::GoalHandle::getGoalStatus() const{
+  GoalStatus ServerGoalHandle<ActionSpec>::getGoalStatus() const{
     if(goal_)
       return (*status_it_).status_;
     else{
-      ROS_ERROR("Attempt to get goal status on an uninitialized GoalHandle");
+      ROS_ERROR("Attempt to get goal status on an uninitialized ServerGoalHandle");
       return GoalStatus();
     }
   }
 
   template <class ActionSpec>
-  bool ActionServer<ActionSpec>::GoalHandle::operator==(const GoalHandle& other){
+  bool ServerGoalHandle<ActionSpec>::operator==(const ServerGoalHandle& other){
     if(!goal_ || !other.goal_)
       return false;
     GoalID my_id = getGoalID();
@@ -187,7 +187,7 @@
   }
 
   template <class ActionSpec>
-  bool ActionServer<ActionSpec>::GoalHandle::operator!=(const GoalHandle& other){
+  bool ServerGoalHandle<ActionSpec>::operator!=(const ServerGoalHandle& other){
     if(!goal_ || !other.goal_)
       return true;
     GoalID my_id = getGoalID();
@@ -196,13 +196,13 @@
   }
 
   template <class ActionSpec>
-  ActionServer<ActionSpec>::GoalHandle::GoalHandle(typename std::list<StatusTracker>::iterator status_it,
+  ServerGoalHandle<ActionSpec>::ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
       ActionServer<ActionSpec>* as, boost::shared_ptr<void> handle_tracker)
     : status_it_(status_it), goal_((*status_it).goal_),
     as_(as), handle_tracker_(handle_tracker){}
 
   template <class ActionSpec>
-  bool ActionServer<ActionSpec>::GoalHandle::setCancelRequested(){
+  bool ServerGoalHandle<ActionSpec>::setCancelRequested(){
     ROS_DEBUG("Transisitoning to a cancel requested state on goal id: %.2f, stamp: %.2f", getGoalID().id.toSec(), getGoalID().stamp.toSec());
     if(goal_){
       unsigned int status = (*status_it_).status_.status;

Added: pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter.h	                        (rev 0)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -0,0 +1,67 @@
+/*********************************************************************
+*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage, Inc. nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+* Author: Eitan Marder-Eppstein
+*********************************************************************/
+#ifndef ACTONLIB_HANDLE_TRACKER_DELETER_H_
+#define ACTONLIB_HANDLE_TRACKER_DELETER_H_
+#include <actionlib/action_definition.h>
+#include <actionlib/server/status_tracker.h>
+namespace actionlib {
+  //we need to forward declare the ActionServer class
+  template <class ActionSpec>
+  class ActionServer;
+
+  /**
+   * @class HandleTrackerDeleter
+   * @brief A class to help with tracking GoalHandles and removing goals
+   * from the status list when the last GoalHandle associated with a given
+   * goal is deleted.
+   */
+  //class to help with tracking status objects
+  template <class ActionSpec>
+    class HandleTrackerDeleter {
+      public:
+        HandleTrackerDeleter(ActionServer<ActionSpec>* as,
+            typename std::list<StatusTracker<ActionSpec> >::iterator status_it);
+
+        void operator()(void* ptr);
+
+      private:
+        ActionServer<ActionSpec>* as_;
+        typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
+    };
+};
+#include <actionlib/server/handle_tracker_deleter_imp.h>
+#endif

Modified: pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter_imp.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter_imp.h	2009-08-10 22:56:55 UTC (rev 21484)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/handle_tracker_deleter_imp.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -38,12 +38,12 @@
 #define ACTIONLIB_HANDLE_TRACKER_DELETER_IMP_H_
 namespace actionlib {
   template <class ActionSpec>
-  ActionServer<ActionSpec>::HandleTrackerDeleter::HandleTrackerDeleter(ActionServer<ActionSpec>* as,
-      typename std::list<typename ActionServer<ActionSpec>::StatusTracker>::iterator status_it)
+  HandleTrackerDeleter<ActionSpec>::HandleTrackerDeleter(ActionServer<ActionSpec>* as,
+      typename std::list<StatusTracker<ActionSpec> >::iterator status_it)
     : as_(as), status_it_(status_it) {}
 
   template <class ActionSpec>
-  void ActionServer<ActionSpec>::HandleTrackerDeleter::operator()(void* ptr){
+  void HandleTrackerDeleter<ActionSpec>::operator()(void* ptr){
     if(as_){
       //make sure to lock while we erase status for this goal from the list
       as_->lock_.lock();

Added: pkg/trunk/stacks/common/actionlib/include/actionlib/server/server_goal_handle.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/server_goal_handle.h	                        (rev 0)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/server_goal_handle.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -0,0 +1,163 @@
+/*********************************************************************
+*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage, Inc. nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+* Author: Eitan Marder-Eppstein
+*********************************************************************/
+#ifndef ACTIONLIB_SERVER_GOAL_HANDLE_H_ 
+#define ACTIONLIB_SERVER_GOAL_HANDLE_H_ 
+
+#include <actionlib/GoalID.h>
+#include <actionlib/GoalStatus.h>
+#include <actionlib/action_definition.h>
+#include <actionlib/server/status_tracker.h>
+#include <boost/shared_ptr.hpp>
+
+namespace actionlib {
+  //forward declaration of ActionServer
+  template <class ActionSpec>
+  class ActionServer;
+
+  /**
+   * @class ServerGoalHandle
+   * @brief Encapsulates a state machine for a given goal that the user can
+   * trigger transisions on. All ROS interfaces for the goal are managed by
+   * the ActionServer to lessen the burden on the user.
+   */
+  template <class ActionSpec>
+  class ServerGoalHandle {
+    private:
+      //generates typedefs that we'll use to make our lives easier
+      ACTION_DEFINITION(ActionSpec);
+
+    public:
+      /**
+       * @brief  Default constructor for a ServerGoalHandle
+       */
+      ServerGoalHandle();
+
+      /** @brief  Accept the goal referenced by the goal handle. This will
+       * transition to the ACTIVE state or the PREEMPTING state depending
+       * on whether a cancel request has been received for the goal
+       */
+      void setAccepted();
+
+      /**
+       * @brief  Set the status of the goal associated with the ServerGoalHandle to RECALLED or PREEMPTED
+       * depending on what the current status of the goal is
+       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
+       */
+      void setCanceled(const Result& result = Result());
+
+      /**
+       * @brief  Set the status of the goal associated with the ServerGoalHandle to rejected
+       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
+       */
+      void setRejected(const Result& result = Result());
+
+      /**
+       * @brief  Set the status of the goal associated with the ServerGoalHandle to aborted
+       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
+       */
+      void setAborted(const Result& result = Result());
+
+      /**
+       * @brief  Set the status of the goal associated with the ServerGoalHandle to succeeded
+       * @param  result Optionally, the user can pass in a result to be sent to any clients of the goal
+       */
+      void setSucceeded(const Result& result = Result());
+
+      /**
+       * @brief  Send feedback to any clients of the goal associated with this ServerGoalHandle
+       * @param feedback The feedback to send to the client
+       */
+      void publishFeedback(const Feedback& feedback);
+
+      /**
+       * @brief  Accessor for the goal associated with the ServerGoalHandle
+       * @return A shared_ptr to the goal object
+       */
+      boost::shared_ptr<const Goal> getGoal() const;
+
+      /**
+       * @brief  Accessor for the goal id associated with the ServerGoalHandle
+       * @return The goal id
+       */
+      GoalID getGoalID() const;
+
+      /**
+       * @brief  Accessor for the status associated with the ServerGoalHandle
+       * @return The goal status
+       */
+      GoalStatus getGoalStatus() const;
+
+      /**
+       * @brief  Equals operator for ServerGoalHandles
+       * @param other The ServerGoalHandle to compare to
+       * @return True if the ServerGoalHandles refer to the same goal, false otherwise
+       */
+      bool operator==(const ServerGoalHandle& other);
+
+      /**
+       * @brief  != operator for ServerGoalHandles
+       * @param other The ServerGoalHandle to compare to
+       * @return True if the ServerGoalHandles refer to different goals, false otherwise
+       */
+      bool operator!=(const ServerGoalHandle& other);
+
+    private:
+      /**
+       * @brief  A private constructor used by the ActionServer to initialize a ServerGoalHandle
+       */
+      ServerGoalHandle(typename std::list<StatusTracker<ActionSpec> >::iterator status_it,
+          ActionServer<ActionSpec>* as, boost::shared_ptr<void> handle_tracker);
+
+      /**
+       * @brief  A private method to set status to PENDING or RECALLING
+       * @return True if the cancel request should be passed on to the user, false otherwise
+       */
+      bool setCancelRequested();
+
+      typename std::list<StatusTracker<ActionSpec> >::iterator status_it_;
+      boost::shared_ptr<const ActionGoal> goal_;
+      ActionServer<ActionSpec>* as_;
+      boost::shared_ptr<void> handle_tracker_;
+      friend class ActionServer<ActionSpec>;
+  };
+
+};
+
+//include the implementation
+#include <actionlib/server/goal_handle_imp.h>
+
+#endif

Added: pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker.h	                        (rev 0)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -0,0 +1,71 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Eitan Marder-Eppstein
+ *********************************************************************/
+#ifndef ACTIONLIB_STATUS_TRACKER_H_
+#define ACTIONLIB_STATUS_TRACKER_H_
+
+#include <actionlib/GoalID.h>
+#include <actionlib/GoalStatus.h>
+#include <actionlib/action_definition.h>
+
+namespace actionlib {
+
+  /**
+   * @class StatusTracker
+   * @brief A class for storing the status of each goal the action server
+   * is currently working on
+   */
+  template <class ActionSpec>
+    class StatusTracker {
+      private:
+        //generates typedefs that we'll use to make our lives easier
+        ACTION_DEFINITION(ActionSpec);
+
+      public:
+        StatusTracker(const GoalID& goal_id, unsigned int status);
+
+        StatusTracker(const boost::shared_ptr<const ActionGoal>& goal);
+
+        boost::shared_ptr<const ActionGoal> goal_;
+        boost::weak_ptr<void> handle_tracker_;
+        GoalStatus status_;
+        ros::Time handle_destruction_time_;
+    };
+};
+
+//include the implementation
+#include <actionlib/server/status_tracker_imp.h>
+#endif

Modified: pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker_imp.h
===================================================================
--- pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker_imp.h	2009-08-10 22:56:55 UTC (rev 21484)
+++ pkg/trunk/stacks/common/actionlib/include/actionlib/server/status_tracker_imp.h	2009-08-10 22:57:21 UTC (rev 21485)
@@ -38,14 +38,14 @@
 #define ACTIONLIB_STATUS_TRACKER_IMP_H_
 namespace actionlib {
   template <class ActionSpec>
-  ActionServer<ActionSpec>::StatusTracker::StatusTracker(const GoalID& goal_id, unsigned int status){
+  StatusTracker<ActionSpec>::StatusTracker(const GoalID& goal_id, unsigned int status){
     //set the goal id and status appropriately
     status_.goal_id = goal_id;
     status_.status = status;
   }
 
   template <class ActionSpec>
-  ActionServer<ActionSpec>::StatusTracker::StatusTracker(const boost::shared_ptr<const typename ActionServer<ActionSpec>::ActionGoal>& goal)
+  StatusTracker<ActionSpec>::StatusTracker(const boost::shared_ptr<const ActionGoal>& goal)
     : goal_(goal) {
       //set the goal_id from the message
       status_.goal_id = goal_->goal_id;


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