Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
ros.cpp
1
2
/***************************************************************************
3
* ros.cpp - ROS aspect for Fawkes
4
*
5
* Created: Thu May 05 15:53:31 2011
6
* Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7
*
8
****************************************************************************/
9
10
/* This program is free software; you can redistribute it and/or modify
11
* it under the terms of the GNU General Public License as published by
12
* the Free Software Foundation; either version 2 of the License, or
13
* (at your option) any later version. A runtime exception applies to
14
* this software (see LICENSE.GPL_WRE file mentioned below for details).
15
*
16
* This program is distributed in the hope that it will be useful,
17
* but WITHOUT ANY WARRANTY; without even the implied warranty of
18
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19
* GNU Library General Public License for more details.
20
*
21
* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22
*/
23
24
#include <plugins/ros/aspect/ros.h>
25
#include <ros/node_handle.h>
26
27
namespace
fawkes {
28
#if 0
/* just to make Emacs auto-indent happy */
29
}
30
#endif
31
32
/** @class ROSAspect <plugins/ros/aspect/ros.h>
33
* Thread aspect to get access to a ROS node handle.
34
* Give this aspect to your thread to interact with the central ROS
35
* node handle.
36
*
37
* @ingroup Aspects
38
* @author Tim Niemueller
39
*/
40
41
/** @var fawkes:LockPtr<ros::NodeHandle> ROSAspect::rosnode
42
* Central ROS node handle. Make sure you use proper locking in your
43
* application when using the class, or chaos and havoc will come upon you.
44
*/
45
46
/** Constructor. */
47
ROSAspect::ROSAspect()
48
{
49
add_aspect(
"ROSAspect"
);
50
}
51
52
53
/** Virtual empty destructor. */
54
ROSAspect::~ROSAspect()
55
{
56
}
57
58
59
/** Init ROS aspect.
60
* This set the ROS node handle.
61
* It is guaranteed that this is called for an ROS Thread before start
62
* is called (when running regularly inside Fawkes).
63
* @param rosnode ROS node handle
64
*/
65
void
66
ROSAspect::init_ROSAspect(
LockPtr<ros::NodeHandle>
rosnode)
67
{
68
this->rosnode = rosnode;
69
}
70
71
/** Finalize ROS aspect.
72
* This clears the ROS node handle.
73
*/
74
void
75
ROSAspect::finalize_ROSAspect()
76
{
77
rosnode.
clear
();
78
}
79
80
}
// end namespace fawkes
src
plugins
ros
aspect
ros.cpp
Generated by
1.8.3.1