Fawkes API  Fawkes Development Version
ros.cpp
00001 
00002 /***************************************************************************
00003  *  ros.cpp - ROS aspect for Fawkes
00004  *
00005  *  Created: Thu May 05 15:53:31 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
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. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #include <plugins/ros/aspect/ros.h>
00025 #include <ros/node_handle.h>
00026 
00027 namespace fawkes {
00028 #if 0 /* just to make Emacs auto-indent happy */
00029 }
00030 #endif
00031 
00032 /** @class ROSAspect <plugins/ros/aspect/ros.h>
00033  * Thread aspect to get access to a ROS node handle.
00034  * Give this aspect to your thread to interact with the central ROS
00035  * node handle.
00036  *
00037  * @ingroup Aspects
00038  * @author Tim Niemueller
00039  */
00040 
00041 /** @var fawkes:LockPtr<ros::NodeHandle> ROSAspect::rosnode
00042  * Central ROS node handle. Make sure you use proper locking in your
00043  * application when using the class, or chaos and havoc will come upon you.
00044  */
00045 
00046 /** Constructor. */
00047 ROSAspect::ROSAspect()
00048 {
00049   add_aspect("ROSAspect");
00050 }
00051 
00052 
00053 /** Virtual empty destructor. */
00054 ROSAspect::~ROSAspect()
00055 {
00056 }
00057 
00058 
00059 /** Init ROS aspect.
00060  * This set the ROS node handle.
00061  * It is guaranteed that this is called for an ROS Thread before start
00062  * is called (when running regularly inside Fawkes).
00063  * @param rosnode ROS node handle
00064  */
00065 void
00066 ROSAspect::init_ROSAspect(LockPtr<ros::NodeHandle> rosnode)
00067 {
00068   this->rosnode = rosnode;
00069 }
00070 
00071 /** Finalize ROS aspect.
00072  * This clears the ROS node handle.
00073  */
00074 void
00075 ROSAspect::finalize_ROSAspect()
00076 {
00077   rosnode.clear();
00078 }
00079 
00080 } // end namespace fawkes