Fawkes API Fawkes Development Version
openrave.cpp
1
2/***************************************************************************
3 * openrave.cpp - OpenRave aspect for Fawkes
4 *
5 * Created: Fri Feb 25 15:08:00 2011
6 * Copyright 2011 Bahram Maleki-Fard
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 <plugins/openrave/aspect/openrave.h>
25
26namespace fawkes {
27
28/** @class OpenRaveAspect <plugins/openrave/aspect/openrave.h>
29 * Thread aspect create, update, and graph round-robin databases (RRD).
30 * Give this aspect to your thread to access the OpenRave environment,
31 * add robots or objects, path plans for manipulator movement, etc.
32 *
33 * @ingroup Aspects
34 * @author Bahram Maleki-Fard
35 */
36
37/** @var fawkes::OpenRaveConnector * OpenRaveAspect::openrave
38 * Manager class to access OpenRave features. It will take care of properly
39 * distributing the work.
40 */
41
42/** Constructor. */
44{
45 add_aspect("OpenRaveAspect");
46}
47
48/** Virtual empty destructor. */
50{
51}
52
53/** Init OpenRave aspect.
54 * This sets the OpenRave manager to access OpenRave.
55 * It is guaranteed that this is called for an OpenRave Thread before start
56 * is called (when running regularly inside Fawkes).
57 * @param or_manager OpenRaveManager to use
58 */
59void
60OpenRaveAspect::init_OpenRaveAspect(OpenRaveConnector *openrave)
61{
62 this->openrave = openrave;
63}
64
65} // end namespace fawkes
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:49
OpenRaveConnector * openrave
Manager class to access OpenRave features.
Definition: openrave.h:43
virtual ~OpenRaveAspect()
Virtual empty destructor.
Definition: openrave.cpp:49
OpenRaveAspect()
Constructor.
Definition: openrave.cpp:43
Interface for a OpenRave connection creator.
Fawkes library namespace.