Fawkes API  Fawkes Development Version
gazebo_inifin.h
1 
2 /***************************************************************************
3  * gazebo_inifin.h - Fawkes GazeboAspect initializer/finalizer
4  *
5  * Created: Fri Aug 24 09:26:58 2012
6  * Author Bastian Klingen, Frederik Zwilling (2013)
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_GAZEBO_ASPECT_GAZEBO_INIFIN_H_
25 #define __PLUGINS_GAZEBO_ASPECT_GAZEBO_INIFIN_H_
26 
27 #include <aspect/inifins/inifin.h>
28 #include <plugins/gazebo/aspect/gazebo.h>
29 
30 // from Gazebo
31 #include <gazebo/transport/Node.hh>
32 
33 namespace fawkes {
34 #if 0 /* just to make Emacs auto-indent happy */
35 }
36 #endif
37 
39 {
40  public:
42 
43  virtual void init(Thread *thread);
44  virtual void finalize(Thread *thread);
45 
46  //setters for the node_thread
47  void set_gazebonode(gazebo::transport::NodePtr gazebonode);
48  void set_gazebo_world_node(gazebo::transport::NodePtr gazebo_world_node);
49 
50  private:
51  gazebo::transport::NodePtr __gazebonode;
52  gazebo::transport::NodePtr __gazebo_world_node;
53 
54 };
55 
56 } // end namespace fawkes
57 
58 #endif
Fawkes library namespace.
Thread class encapsulation of pthreads.
Definition: thread.h:42
GazeboAspectIniFin()
Constructor.
virtual void finalize(Thread *thread)
Finalize.
void set_gazebonode(gazebo::transport::NodePtr gazebonode)
Set the Gazebo node handle to use for aspect initialization.
virtual void init(Thread *thread)
Initialize.
GazeboAspect initializer/finalizer.
Definition: gazebo_inifin.h:38
void set_gazebo_world_node(gazebo::transport::NodePtr gazebo_world_node)
Set the Gazebo node handle to use for aspect initialization.
Aspect initializer/finalizer base class.
Definition: inifin.h:36