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openrave.cpp
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/***************************************************************************
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* openrave.cpp - OpenRave aspect for Fawkes
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*
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* Created: Fri Feb 25 15:08:00 2011
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* Copyright 2011 Bahram Maleki-Fard
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*
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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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#include <plugins/openrave/aspect/openrave.h>
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namespace
fawkes {
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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 OpenRaveAspect <plugins/openrave/aspect/openrave.h>
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* Thread aspect create, update, and graph round-robin databases (RRD).
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* Give this aspect to your thread to access the OpenRave environment,
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* add robots or objects, path plans for manipulator movement, etc.
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*
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* @ingroup Aspects
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* @author Bahram Maleki-Fard
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*/
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/** @var fawkes::OpenRaveConnector * OpenRaveAspect::openrave
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* Manager class to access OpenRave features. It will take care of properly
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* distributing the work.
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*/
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/** Constructor. */
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OpenRaveAspect::OpenRaveAspect()
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{
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add_aspect(
"OpenRaveAspect"
);
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}
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/** Virtual empty destructor. */
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OpenRaveAspect::~OpenRaveAspect()
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{
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}
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/** Init OpenRave aspect.
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* This sets the OpenRave manager to access OpenRave.
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* It is guaranteed that this is called for an OpenRave Thread before start
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* is called (when running regularly inside Fawkes).
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* @param or_manager OpenRaveManager to use
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*/
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void
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OpenRaveAspect::init_OpenRaveAspect(
OpenRaveConnector
*openrave)
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{
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this->openrave = openrave;
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}
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}
// end namespace fawkes
src
plugins
openrave
aspect
openrave.cpp
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