Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * openrave_inifin.cpp - Fawkes OpenRaveAspect initializer/finalizer 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_inifin.h> 00025 #include <plugins/openrave/aspect/openrave.h> 00026 #include <plugins/openrave/aspect/openrave_connector.h> 00027 00028 #include <core/threading/thread_finalizer.h> 00029 00030 namespace fawkes { 00031 #if 0 /* just to make Emacs auto-indent happy */ 00032 } 00033 #endif 00034 00035 /** @class OpenRaveAspectIniFin <plugins/openrave/aspect/openrave_inifin.h> 00036 * OpenRaveAspect initializer/finalizer. 00037 * This initializer/finalizer will provide the OpenRaveConnector to threads with 00038 * the OpenRaveAspect. 00039 * @author Bahram Maleki-Fard 00040 */ 00041 00042 /** Constructor. 00043 * @param openrave OpenRaveConnector to pass on to threads 00044 */ 00045 OpenRaveAspectIniFin::OpenRaveAspectIniFin(OpenRaveConnector *openrave) 00046 : AspectIniFin("OpenRaveAspect") 00047 { 00048 __openrave = openrave; 00049 } 00050 00051 void 00052 OpenRaveAspectIniFin::init(Thread *thread) 00053 { 00054 OpenRaveAspect *or_thread; 00055 00056 or_thread = dynamic_cast<OpenRaveAspect *>(thread); 00057 if (or_thread == NULL) { 00058 throw CannotInitializeThreadException("Thread '%s' claims to have the " 00059 "OpenRaveAspect, but RTTI says it " 00060 "has not. ", thread->name()); 00061 } 00062 00063 or_thread->init_OpenRaveAspect(__openrave); 00064 } 00065 00066 void 00067 OpenRaveAspectIniFin::finalize(Thread *thread) 00068 { 00069 } 00070 00071 00072 00073 } // end namespace fawkes