24 #ifndef _LIBS_BASEAPP_RUN_H_ 25 #define _LIBS_BASEAPP_RUN_H_ 27 #include <baseapp/init_options.h> 35 class FawkesMainThread;
39 class FawkesNetworkManager;
42 class ConfigNetworkHandler;
43 class PluginNetworkHandler;
47 class TransformListener;
52 extern ArgumentParser * argument_parser;
53 extern FawkesMainThread * main_thread;
54 extern MultiLogger * logger;
55 extern NetworkLogger * network_logger;
56 extern BlackBoard * blackboard;
57 extern Configuration * config;
59 extern PluginManager * plugin_manager;
60 extern AspectManager * aspect_manager;
61 extern ThreadManager * thread_manager;
62 extern FawkesNetworkManager * network_manager;
63 extern ConfigNetworkHandler * nethandler_config;
64 extern PluginNetworkHandler * nethandler_plugin;
65 extern tf::Transformer * tf_transformer;
66 extern tf::TransformListener *tf_listener;
67 extern Time * start_time;
69 bool init(
int argc,
char **argv,
int &retval);
70 bool init(
const InitOptions &options,
int &retval);
76 void print_usage(
const char *progname);
Fawkes library namespace.