Fawkes API  Fawkes Development Version
openrave_plugin.cpp
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)