Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * openrave.cpp - OpenRave aspect for Fawkes 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. 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/openrave/aspect/openrave.h> 00025 00026 namespace fawkes { 00027 #if 0 /* just to make Emacs auto-indent happy */ 00028 } 00029 #endif 00030 00031 /** @class OpenRaveAspect <plugins/openrave/aspect/openrave.h> 00032 * Thread aspect create, update, and graph round-robin databases (RRD). 00033 * Give this aspect to your thread to access the OpenRave environment, 00034 * add robots or objects, path plans for manipulator movement, etc. 00035 * 00036 * @ingroup Aspects 00037 * @author Bahram Maleki-Fard 00038 */ 00039 00040 /** @var fawkes::OpenRaveConnector * OpenRaveAspect::openrave 00041 * Manager class to access OpenRave features. It will take care of properly 00042 * distributing the work. 00043 */ 00044 00045 /** Constructor. */ 00046 OpenRaveAspect::OpenRaveAspect() 00047 { 00048 add_aspect("OpenRaveAspect"); 00049 } 00050 00051 00052 /** Virtual empty destructor. */ 00053 OpenRaveAspect::~OpenRaveAspect() 00054 { 00055 } 00056 00057 00058 /** Init OpenRave aspect. 00059 * This sets the OpenRave manager to access OpenRave. 00060 * It is guaranteed that this is called for an OpenRave Thread before start 00061 * is called (when running regularly inside Fawkes). 00062 * @param or_manager OpenRaveManager to use 00063 */ 00064 void 00065 OpenRaveAspect::init_OpenRaveAspect(OpenRaveConnector *openrave) 00066 { 00067 this->openrave = openrave; 00068 } 00069 00070 } // end namespace fawkes