Fawkes API Fawkes Development Version
gazebo_inifin.h
1
2/***************************************************************************
3 * gazebo_inifin.h - Fawkes GazeboAspect initializer/finalizer
4 *
5 * Created: Fri Aug 24 09:26:58 2012
6 * Author Bastian Klingen, Frederik Zwilling (2013)
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_GAZEBO_ASPECT_GAZEBO_INIFIN_H_
25#define _PLUGINS_GAZEBO_ASPECT_GAZEBO_INIFIN_H_
26
27#include <aspect/inifins/inifin.h>
28#include <plugins/gazebo/aspect/gazebo.h>
29
30// from Gazebo
31#include <gazebo/transport/Node.hh>
32
33namespace fawkes {
34
36{
37public:
39
40 virtual void init(Thread *thread);
41 virtual void finalize(Thread *thread);
42
43 //setters for the node_thread
44 void set_gazebonode(gazebo::transport::NodePtr gazebonode);
45 void set_gazebo_world_node(gazebo::transport::NodePtr gazebo_world_node);
46
47private:
48 gazebo::transport::NodePtr gazebonode_;
49 gazebo::transport::NodePtr gazebo_world_node_;
50};
51
52} // end namespace fawkes
53
54#endif
Aspect initializer/finalizer base class.
Definition: inifin.h:34
GazeboAspect initializer/finalizer.
Definition: gazebo_inifin.h:36
void set_gazebonode(gazebo::transport::NodePtr gazebonode)
Set the Gazebo node handle to use for aspect initialization.
GazeboAspectIniFin()
Constructor.
virtual void init(Thread *thread)
Initialize.
virtual void finalize(Thread *thread)
Finalize.
void set_gazebo_world_node(gazebo::transport::NodePtr gazebo_world_node)
Set the Gazebo node handle to use for aspect initialization.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.