Fawkes API  Fawkes Development Version
ros_inifin.h
1 
2 /***************************************************************************
3  * ros_inifin.h - Fawkes ROSAspect initializer/finalizer
4  *
5  * Created: Thu May 05 16:02:26 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_INIFIN_H_
25 #define __PLUGINS_ROS_ASPECT_ROS_INIFIN_H_
26 
27 #include <aspect/inifins/inifin.h>
28 #include <plugins/ros/aspect/ros.h>
29 
30 namespace fawkes {
31 #if 0 /* just to make Emacs auto-indent happy */
32 }
33 #endif
34 
36 {
37  public:
39 
40  virtual void init(Thread *thread);
41  virtual void finalize(Thread *thread);
42 
44 
45  private:
46  LockPtr<ros::NodeHandle> __rosnode;
47 };
48 
49 } // end namespace fawkes
50 
51 #endif
Fawkes library namespace.
Thread class encapsulation of pthreads.
Definition: thread.h:42
void set_rosnode(LockPtr< ros::NodeHandle > rosnode)
Set the ROS node handle to use for aspect initialization.
Definition: ros_inifin.cpp:81
virtual void finalize(Thread *thread)
Finalize thread.
Definition: ros_inifin.cpp:64
ROSAspect initializer/finalizer.
Definition: ros_inifin.h:35
ROSAspectIniFin()
Constructor.
Definition: ros_inifin.cpp:41
virtual void init(Thread *thread)
Initialize thread.
Definition: ros_inifin.cpp:47
Aspect initializer/finalizer base class.
Definition: inifin.h:36