Fawkes API  Fawkes Development Version
openrave_plugin.cpp
1 
2 /***************************************************************************
3  * openrave_plugin.cpp - Fawkes OpenRAVE Plugin
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.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include "openrave_plugin.h"
24 
25 #include "openrave_thread.h"
26 #include "message_handler_thread.h"
27 
28 using namespace fawkes;
29 
30 /** @class OpenRavePlugin <plugins/openrave/openrave_plugin.h>
31  * OpenRAVE Connector plugin.
32  * This plugin provides access to OpenRAVE for other Fawkes plugins.
33  * It builds up an environment, manages objects and robots in that environment
34  * and handles ik solving and path-planning.
35  *
36  * @author Bahram Maleki-Fard
37  */
38 
39 /** Constructor.
40  * @param config Fawkes configuration
41  */
43  : Plugin(config)
44 {
45  OpenRaveThread* or_thread = new OpenRaveThread();
46 
47  thread_list.push_back(or_thread);
49 }
50 
51 
52 PLUGIN_DESCRIPTION("OpenRAVE Connector Plugin")
53 EXPORT_PLUGIN(OpenRavePlugin)
Plugin interface class.
Definition: plugin.h:33
Fawkes library namespace.
OpenRAVE Connector plugin.
OpenRavePlugin(fawkes::Configuration *config)
Constructor.
ThreadList thread_list
Thread list member.
Definition: plugin.h:53
void push_back(Thread *thread)
Add thread to the end.
OpenRAVE Thread.
Interface for configuration handling.
Definition: config.h:67