www.gusucode.com > ros 工具箱 matlab源码程序 > ros/+robotics/+ros/+internal/+action/ISimpleActionClientParser.m

    classdef (Abstract) ISimpleActionClientParser < handle
    %This class is for internal use only. It may be removed in the future.
    
    %ISimpleActionClientParser Abstract interface for simple action client parser
    %   Having a common interface allows us to replace the delegate at test 
    %   time and reduces external dependencies of the SUT (system-under-test).
    %
    %   This design follows the Dependency Lookup / Component Broker pattern
    %   described in http://xunitpatterns.com/Dependency%20Lookup.html.
    %
    %   See also robotics.ros.internal.action.ActionDelegateFactory
    
    %   Copyright 2016 The MathWorks, Inc.
    
    methods (Abstract)
        %parseConstructorInput Parse constructor arguments
        [node, actionNamespace, actionType] = parseConstructorInput(~, defaultActionType, node, actionNamespace, varargin);
        
        %parseFcnSetterInput Parse argument to callback property setter
        [funcHandle, userData] = parseFcnSetterInput(~, fcnHandle, propName);
        
        %parseWaitForServerInput Parse the arguments to the waitForServer method
        timeout = parseWaitForServerInput(obj, defaultTimeout, varargin);
        
        %parseSendGoalInput Validate input to sendGoal method
        parseSendGoalInput(obj, goalMsg, expectedMsgType);
        
        %parseSendGoalAndWaitInput Parse the arguments to the sendGoalAndWait method
        timeout = parseSendGoalAndWaitInput(obj, defaultTimeout, expectedMsgType, goalMsg, varargin)       
    end
end