/*********************************************************************
*
* Software License Agreement (BSD License)
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*  Copyright (c) 2008, Willow Garage, Inc.
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*     from this software without specific prior written permission.
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*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB__ACTION_DEFINITION_H_
#define ACTIONLIB__ACTION_DEFINITION_H_
// A macro that will generate helpful typedefs for action client, server, and policy implementers
namespace actionlib
{
#define ACTION_DEFINITION(ActionSpec) \
  typedef typename ActionSpec::_action_goal_type ActionGoal; \
  typedef typename ActionGoal::_goal_type Goal; \
  typedef typename ActionSpec::_action_result_type ActionResult; \
  typedef typename ActionResult::_result_type Result; \
  typedef typename ActionSpec::_action_feedback_type ActionFeedback; \
  typedef typename ActionFeedback::_feedback_type Feedback; \
 \
  typedef boost::shared_ptr<const ActionGoal> ActionGoalConstPtr; \
  typedef boost::shared_ptr<ActionGoal> ActionGoalPtr; \
  typedef boost::shared_ptr<const Goal> GoalConstPtr; \
  typedef boost::shared_ptr<Goal> GoalPtr; \
 \
  typedef boost::shared_ptr<const ActionResult> ActionResultConstPtr; \
  typedef boost::shared_ptr<ActionResult> ActionResultPtr; \
  typedef boost::shared_ptr<const Result> ResultConstPtr; \
  typedef boost::shared_ptr<Result> ResultPtr; \
 \
  typedef boost::shared_ptr<const ActionFeedback> ActionFeedbackConstPtr; \
  typedef boost::shared_ptr<ActionFeedback> ActionFeedbackPtr; \
  typedef boost::shared_ptr<const Feedback> FeedbackConstPtr; \
  typedef boost::shared_ptr<Feedback> FeedbackPtr;
}  // namespace actionlib
#endif  // ACTIONLIB__ACTION_DEFINITION_H_
