Fawkes API  Fawkes Development Version
tf.h
00001 
00002 /***************************************************************************
00003  *  tf.h - Transform aspect for Fawkes
00004  *
00005  *  Created: Tue Oct 25 21:33:21 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  ****************************************************************************/
00008 
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version. A runtime exception applies to
00013  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00021  */
00022 
00023 #ifndef __ASPECT_TF_H_
00024 #define __ASPECT_TF_H_
00025 
00026 #include <aspect/aspect.h>
00027 #include <tf/transform_listener.h>
00028 #include <tf/transform_publisher.h>
00029 
00030 namespace fawkes {
00031 
00032   class BlackBoard;
00033 
00034 #if 0 /* just to make Emacs auto-indent happy */
00035 }
00036 #endif
00037 
00038 class TransformAspect : public virtual Aspect
00039 {
00040  public:
00041   /** Enumeration describing the desired mode of operation. */
00042   typedef enum {
00043     ONLY_LISTENER,      ///< only create a transform listener
00044     ONLY_PUBLISHER,     ///< only create a transform publisher
00045     BOTH                ///< create both, transform listener and publisher
00046   } Mode;
00047 
00048   TransformAspect(Mode mode = ONLY_LISTENER, const char *tf_bb_iface_id = 0);
00049   virtual ~TransformAspect();
00050 
00051   void init_TransformAspect(BlackBoard *blackboard);
00052   void finalize_TransformAspect();
00053 
00054  protected:
00055   tf::TransformListener   * tf_listener;
00056   tf::TransformPublisher  * tf_publisher;
00057 
00058  private:
00059   Mode  __tf_aspect_mode;
00060   char *__tf_aspect_bb_iface_id;
00061 };
00062 
00063 } // end namespace fawkes
00064 
00065 #endif