Fawkes API
Fawkes Development Version
static_transforms_plugin.cpp
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/***************************************************************************
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* static_transforms_plugin.cpp - Plugin to publish static transforms
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*
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* Created: Tue Oct 25 16:30:56 2011
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* Copyright 2011 Tim Niemueller [www.niemueller.de]
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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.
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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 file in the doc directory.
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*/
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#include <core/plugin.h>
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#include "static_transforms_thread.h"
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using namespace
fawkes
;
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/** Plugin to publish static transforms.
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* @author Tim Niemueller
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*/
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class
StaticTransformsPlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config Fawkes configuration
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*/
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StaticTransformsPlugin
(
Configuration
*config)
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:
Plugin
(config)
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{
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thread_list.push_back(
new
StaticTransformsThread
());
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}
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};
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PLUGIN_DESCRIPTION(
"Static transform publisher"
)
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EXPORT_PLUGIN(
StaticTransformsPlugin
)
fawkes::Plugin
Plugin interface class.
Definition:
plugin.h:33
fawkes
Fawkes library namespace.
StaticTransformsPlugin::StaticTransformsPlugin
StaticTransformsPlugin(Configuration *config)
Constructor.
Definition:
static_transforms_plugin.cpp:38
StaticTransformsPlugin
Plugin to publish static transforms.
Definition:
static_transforms_plugin.cpp:32
StaticTransformsThread
Thread to regularly publish static transforms.
Definition:
static_transforms_thread.h:39
fawkes::Configuration
Interface for configuration handling.
Definition:
config.h:67
src
plugins
static_transforms
static_transforms_plugin.cpp
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