Fawkes API  Fawkes Development Version
ros.h
1 
2 /***************************************************************************
3  * ros.h - ROS aspect for Fawkes
4  *
5  * Created: Thu May 05 16:01:34 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 #ifndef __PLUGINS_ROS_ASPECT_ROS_H_
25 #define __PLUGINS_ROS_ASPECT_ROS_H_
26 
27 #include <aspect/aspect.h>
28 #include <core/utils/lockptr.h>
29 
30 namespace ros {
31  class NodeHandle;
32 }
33 
34 namespace fawkes {
35 #if 0 /* just to make Emacs auto-indent happy */
36 }
37 #endif
38 
39 class ROSAspect : public virtual Aspect
40 {
41  friend class ROSAspectIniFin;
42 
43  public:
44  ROSAspect();
45  virtual ~ROSAspect();
46 
47  protected:
49 
50  private:
51  void init_ROSAspect(LockPtr<ros::NodeHandle> rosnode);
52  void finalize_ROSAspect();
53 };
54 
55 } // end namespace fawkes
56 
57 #endif
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Fawkes aspect base class.
Definition: aspect.h:34
Fawkes library namespace.
ROSAspect initializer/finalizer.
Definition: ros_inifin.h:35
Definition: act_thread.h:37
LockPtr< ros::NodeHandle > rosnode
Central ROS node handle.
Definition: ros.h:48