Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * ros.h - ROS aspect for Fawkes 00004 * 00005 * Created: Thu May 05 16:01:34 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_H_ 00025 #define __PLUGINS_ROS_ASPECT_ROS_H_ 00026 00027 #include <aspect/aspect.h> 00028 #include <core/utils/lockptr.h> 00029 00030 namespace ros { 00031 class NodeHandle; 00032 } 00033 00034 namespace fawkes { 00035 #if 0 /* just to make Emacs auto-indent happy */ 00036 } 00037 #endif 00038 00039 class ROSAspect : public virtual Aspect 00040 { 00041 friend class ROSAspectIniFin; 00042 00043 public: 00044 ROSAspect(); 00045 virtual ~ROSAspect(); 00046 00047 protected: 00048 LockPtr<ros::NodeHandle> rosnode; 00049 00050 private: 00051 void init_ROSAspect(LockPtr<ros::NodeHandle> rosnode); 00052 void finalize_ROSAspect(); 00053 }; 00054 00055 } // end namespace fawkes 00056 00057 #endif