Fawkes API  Fawkes Development Version
openrave.cpp
1 
2 /***************************************************************************
3  * openrave.cpp - OpenRave aspect for Fawkes
4  *
5  * Created: Fri Feb 25 15:08:00 2011
6  * Copyright 2011 Bahram Maleki-Fard
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 <plugins/openrave/aspect/openrave.h>
25 
26 namespace fawkes {
27 #if 0 /* just to make Emacs auto-indent happy */
28 }
29 #endif
30 
31 /** @class OpenRaveAspect <plugins/openrave/aspect/openrave.h>
32  * Thread aspect create, update, and graph round-robin databases (RRD).
33  * Give this aspect to your thread to access the OpenRave environment,
34  * add robots or objects, path plans for manipulator movement, etc.
35  *
36  * @ingroup Aspects
37  * @author Bahram Maleki-Fard
38  */
39 
40 /** @var fawkes::OpenRaveConnector * OpenRaveAspect::openrave
41  * Manager class to access OpenRave features. It will take care of properly
42  * distributing the work.
43  */
44 
45 /** Constructor. */
47 {
48  add_aspect("OpenRaveAspect");
49 }
50 
51 
52 /** Virtual empty destructor. */
54 {
55 }
56 
57 
58 /** Init OpenRave aspect.
59  * This sets the OpenRave manager to access OpenRave.
60  * It is guaranteed that this is called for an OpenRave Thread before start
61  * is called (when running regularly inside Fawkes).
62  * @param or_manager OpenRaveManager to use
63  */
64 void
65 OpenRaveAspect::init_OpenRaveAspect(OpenRaveConnector *openrave)
66 {
67  this->openrave = openrave;
68 }
69 
70 } // end namespace fawkes
Fawkes library namespace.
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:52
OpenRaveAspect()
Constructor.
Definition: openrave.cpp:46
OpenRaveConnector * openrave
Manager class to access OpenRave features.
Definition: openrave.h:44
Interface for a OpenRave connection creator.
virtual ~OpenRaveAspect()
Virtual empty destructor.
Definition: openrave.cpp:53