Fawkes API Fawkes Development Version
ros.h
1
2/***************************************************************************
3 * ros.h - ROS aspect for Fawkes
4 *
5 * Created: Thu May 05 16:01:34 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#ifndef _PLUGINS_ROS_ASPECT_ROS_H_
25#define _PLUGINS_ROS_ASPECT_ROS_H_
26
27#include <aspect/aspect.h>
28#include <core/utils/lockptr.h>
29
30namespace ros {
31class NodeHandle;
32}
33
34namespace fawkes {
35
36class ROSAspectIniFin;
37
38class ROSAspect : public virtual Aspect
39{
40 friend ROSAspectIniFin;
41
42public:
43 ROSAspect();
44 virtual ~ROSAspect();
45
46protected:
48
49private:
50 void init_ROSAspect(LockPtr<ros::NodeHandle> rosnode);
51 void finalize_ROSAspect();
52};
53
54} // end namespace fawkes
55
56#endif
Fawkes aspect base class.
Definition: aspect.h:32
ROSAspect initializer/finalizer.
Definition: ros_inifin.h:33
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
ROSAspect()
Constructor.
Definition: ros.cpp:44
LockPtr< ros::NodeHandle > rosnode
Central ROS node handle.
Definition: ros.h:47
virtual ~ROSAspect()
Virtual empty destructor.
Definition: ros.cpp:50
Fawkes library namespace.