Fawkes API  Fawkes Development Version
odometry_plugin.cpp
00001 
00002 /***************************************************************************
00003  *  odometry_plugin.cpp - Plugin to publish odometry to ROS
00004  *
00005  *  Created: Fri Jun 1 13:29:39 CEST
00006  *  Copyright  2012  Sebastian Reuter
00007  ****************************************************************************/
00008 
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version.
00013  *
00014  *  This program is distributed in the hope that it will be useful,
00015  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *  GNU Library General Public License for more details.
00018  *
00019  *  Read the full text in the LICENSE.GPL file in the doc directory.
00020  */
00021 
00022 #include <core/plugin.h>
00023 
00024 #include "odometry_thread.h"
00025 
00026 using namespace fawkes;
00027 
00028 /** Plugin to publish odometry to ROS. */
00029 class ROSOdometryPlugin : public fawkes::Plugin
00030 {
00031  public:
00032   /** Constructor.
00033    * @param config Fawkes configuration
00034    */
00035   ROSOdometryPlugin(Configuration *config)
00036     : Plugin(config)
00037   {
00038     thread_list.push_back(new ROSOdometryThread());
00039   }
00040 };
00041 
00042 PLUGIN_DESCRIPTION("Send odometry data to ROS")
00043 EXPORT_PLUGIN(ROSOdometryPlugin)