Fawkes API  Fawkes Development Version
pointcloud.cpp
1 
2 /***************************************************************************
3  * pcl.cpp - Fawkes PointCloudAspect initializer/finalizer
4  *
5  * Created: Mon Nov 07 13:37:38 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 <aspect/inifins/pointcloud.h>
25 #include <aspect/pointcloud.h>
26 #include <pcl_utils/utils.h>
27 
28 namespace fawkes {
29 #if 0 /* just to make Emacs auto-indent happy */
30 }
31 #endif
32 
33 /** @class PointCloudAspectIniFin <aspect/inifins/pointcloud.h>
34  * Initializer/finalizer for the PointCloudAspect.
35  * @author Tim Niemueller
36  */
37 
38 /** Constructor.
39  * @param config configuration used to conditionally make PCL quiet.
40  */
42  : AspectIniFin("PointCloudAspect")
43 {
44  __pcl_manager = new PointCloudManager();
45  pcl_utils::shutup_conditional(config);
46 }
47 
48 
49 /** Destructor. */
51 {
52  delete __pcl_manager;
53 }
54 
55 void
57 {
58  PointCloudAspect *pcl_thread;
59  pcl_thread = dynamic_cast<PointCloudAspect *>(thread);
60  if (pcl_thread == NULL) {
61  throw CannotInitializeThreadException("Thread '%s' claims to have the "
62  "PointCloudAspect, but RTTI says it "
63  "has not. ", thread->name());
64  }
65 
66  pcl_thread->init_PointCloudAspect(__pcl_manager);
67 }
68 
69 void
71 {
72 }
73 
74 
75 } // end namespace fawkes
Fawkes library namespace.
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:40
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void finalize(Thread *thread)
Finalize thread.
Definition: pointcloud.cpp:70
PointCloudAspectIniFin(Configuration *config)
Constructor.
Definition: pointcloud.cpp:41
virtual ~PointCloudAspectIniFin()
Destructor.
Definition: pointcloud.cpp:50
Point Cloud manager.
Thread cannot be initialized.
const char * name() const
Get name of thread.
Definition: thread.h:95
virtual void init(Thread *thread)
Initialize thread.
Definition: pointcloud.cpp:56
Interface for configuration handling.
Definition: config.h:67
Aspect initializer/finalizer base class.
Definition: inifin.h:36
void init_PointCloudAspect(PointCloudManager *pcl_manager)
Set URL manager.
Definition: pointcloud.cpp:60