Fawkes API
Fawkes Development Version
joint_plugin.cpp
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/***************************************************************************
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* joint_plugin.cpp - Publish JointStates to ROS
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*
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* Created: Wed Sep 25 18:27:26 2013
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* Copyright 2013 Till Hofmann
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include "joint_thread.h"
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#include <core/plugin.h>
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using namespace
fawkes
;
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/** Plugin publish JointStates to ROS
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* @author Till Hofmann
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*/
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class
RosJointPlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config Fawkes configuration
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*/
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explicit
RosJointPlugin
(
Configuration
*config) :
Plugin
(config)
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{
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thread_list.push_back(
new
RosJointThread
());
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}
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};
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PLUGIN_DESCRIPTION(
"ROS JointState Plugin"
)
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EXPORT_PLUGIN(
RosJointPlugin
)
RosJointPlugin
Plugin publish JointStates to ROS.
Definition:
joint_plugin.cpp:33
RosJointThread
Thread to publish JointStates to ROS.
Definition:
joint_thread.h:47
fawkes::Configuration
Interface for configuration handling.
Definition:
config.h:65
fawkes
Fawkes library namespace.
RosJointPlugin::RosJointPlugin
RosJointPlugin(Configuration *config)
Constructor.
Definition:
joint_plugin.cpp:38
fawkes::Plugin
Plugin interface class.
Definition:
plugin.h:34
src
plugins
ros
joint_plugin.cpp
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