Fawkes API
Fawkes Development Version
|
00001 00002 /*************************************************************************** 00003 * openrave_plugin.cpp - Fawkes OpenRAVE Plugin 00004 * 00005 * Created: Fri Feb 25 15:08:00 2011 00006 * Copyright 2011 Bahram Maleki-Fard 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 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 file in the doc directory. 00021 */ 00022 00023 #include "openrave_plugin.h" 00024 00025 #include "openrave_thread.h" 00026 #include "message_handler_thread.h" 00027 00028 using namespace fawkes; 00029 00030 /** @class OpenRavePlugin <plugins/openrave/openrave_plugin.h> 00031 * OpenRAVE Connector plugin. 00032 * This plugin provides access to OpenRAVE for other Fawkes plugins. 00033 * It builds up an environment, manages objects and robots in that environment 00034 * and handles ik solving and path-planning. 00035 * 00036 * @author Bahram Maleki-Fard 00037 */ 00038 00039 /** Constructor. 00040 * @param config Fawkes configuration 00041 */ 00042 OpenRavePlugin::OpenRavePlugin(Configuration *config) 00043 : Plugin(config) 00044 { 00045 OpenRaveThread* or_thread = new OpenRaveThread(); 00046 00047 thread_list.push_back(or_thread); 00048 thread_list.push_back(new OpenRaveMessageHandlerThread(or_thread)); 00049 } 00050 00051 00052 PLUGIN_DESCRIPTION("OpenRAVE Connector Plugin") 00053 EXPORT_PLUGIN(OpenRavePlugin)