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tf.h
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/***************************************************************************
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* tf.h - Transform aspect for Fawkes
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*
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* Created: Tue Oct 25 21:33:21 2011
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* Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#ifndef __ASPECT_TF_H_
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#define __ASPECT_TF_H_
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#include <aspect/aspect.h>
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#include <tf/transform_listener.h>
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#include <tf/transform_publisher.h>
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namespace
fawkes {
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class
BlackBoard;
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#if 0
/* just to make Emacs auto-indent happy */
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}
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#endif
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class
TransformAspect
:
public
virtual
Aspect
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{
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public
:
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/** Enumeration describing the desired mode of operation. */
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typedef
enum
{
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ONLY_LISTENER
,
///< only create a transform listener
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ONLY_PUBLISHER
,
///< only create a transform publisher
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BOTH
///< create both, transform listener and publisher
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} Mode;
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TransformAspect
(Mode mode = ONLY_LISTENER,
const
char
*tf_bb_iface_id = 0);
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virtual
~
TransformAspect
();
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void
init_TransformAspect(
BlackBoard
*blackboard);
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void
finalize_TransformAspect();
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protected
:
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tf::TransformListener
*
tf_listener
;
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tf::TransformPublisher
*
tf_publisher
;
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private
:
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Mode
__tf_aspect_mode;
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char
*__tf_aspect_bb_iface_id;
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};
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}
// end namespace fawkes
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#endif
src
libs
aspect
tf.h
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