Fawkes API  Fawkes Development Version
ros_inifin.h
00001 
00002 /***************************************************************************
00003  *  ros_inifin.h - Fawkes ROSAspect initializer/finalizer
00004  *
00005  *  Created: Thu May 05 16:02:26 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 #ifndef __PLUGINS_ROS_ASPECT_ROS_INIFIN_H_
00025 #define __PLUGINS_ROS_ASPECT_ROS_INIFIN_H_
00026 
00027 #include <aspect/inifins/inifin.h>
00028 #include <plugins/ros/aspect/ros.h>
00029 
00030 namespace fawkes {
00031 #if 0 /* just to make Emacs auto-indent happy */
00032 }
00033 #endif
00034 
00035 class ROSAspectIniFin : public AspectIniFin
00036 {
00037  public:
00038   ROSAspectIniFin();
00039 
00040   virtual void init(Thread *thread);
00041   virtual void finalize(Thread *thread);
00042 
00043   void set_rosnode(LockPtr<ros::NodeHandle> rosnode);
00044 
00045  private:
00046   LockPtr<ros::NodeHandle> __rosnode;
00047 };
00048 
00049 } // end namespace fawkes
00050 
00051 #endif