Fawkes API Fawkes Development Version
pointcloud.cpp
1
2/***************************************************************************
3 * pcl.cpp - Fawkes PointCloudAspect initializer/finalizer
4 *
5 * Created: Mon Nov 07 13:37:38 2011
6 * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#include <aspect/inifins/pointcloud.h>
25#include <aspect/pointcloud.h>
26#include <pcl_utils/utils.h>
27
28namespace fawkes {
29
30/** @class PointCloudAspectIniFin <aspect/inifins/pointcloud.h>
31 * Initializer/finalizer for the PointCloudAspect.
32 * @author Tim Niemueller
33 */
34
35/** Constructor.
36 * @param config configuration used to conditionally make PCL quiet.
37 */
39: AspectIniFin("PointCloudAspect")
40{
41 pcl_manager_ = new PointCloudManager();
42 pcl_utils::shutup_conditional(config);
43}
44
45/** Destructor. */
47{
48 delete pcl_manager_;
49}
50
51void
53{
54 PointCloudAspect *pcl_thread;
55 pcl_thread = dynamic_cast<PointCloudAspect *>(thread);
56 if (pcl_thread == NULL) {
57 throw CannotInitializeThreadException("Thread '%s' claims to have the "
58 "PointCloudAspect, but RTTI says it "
59 "has not. ",
60 thread->name());
61 }
62
63 pcl_thread->init_PointCloudAspect(pcl_manager_);
64}
65
66void
68{
69}
70
71} // end namespace fawkes
Aspect initializer/finalizer base class.
Definition: inifin.h:34
Interface for configuration handling.
Definition: config.h:68
PointCloudAspectIniFin(Configuration *config)
Constructor.
Definition: pointcloud.cpp:38
virtual void init(Thread *thread)
Initialize thread.
Definition: pointcloud.cpp:52
virtual void finalize(Thread *thread)
Finalize thread.
Definition: pointcloud.cpp:67
virtual ~PointCloudAspectIniFin()
Destructor.
Definition: pointcloud.cpp:46
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
void init_PointCloudAspect(PointCloudManager *pcl_manager)
Set URL manager.
Definition: pointcloud.cpp:54
Point Cloud manager.
Thread class encapsulation of pthreads.
Definition: thread.h:46
const char * name() const
Get name of thread.
Definition: thread.h:100
Fawkes library namespace.