Fawkes API  Fawkes Development Version
ros.cpp
1 
2 /***************************************************************************
3  * ros.cpp - ROS aspect for Fawkes
4  *
5  * Created: Thu May 05 15:53:31 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 <plugins/ros/aspect/ros.h>
25 #include <ros/node_handle.h>
26 
27 namespace fawkes {
28 
29 /** @class ROSAspect <plugins/ros/aspect/ros.h>
30  * Thread aspect to get access to a ROS node handle.
31  * Give this aspect to your thread to interact with the central ROS
32  * node handle.
33  *
34  * @ingroup Aspects
35  * @author Tim Niemueller
36  */
37 
38 /** @var fawkes:LockPtr<ros::NodeHandle> ROSAspect::rosnode
39  * Central ROS node handle. Make sure you use proper locking in your
40  * application when using the class, or chaos and havoc will come upon you.
41  */
42 
43 /** Constructor. */
45 {
46  add_aspect("ROSAspect");
47 }
48 
49 /** Virtual empty destructor. */
51 {
52 }
53 
54 /** Init ROS aspect.
55  * This set the ROS node handle.
56  * It is guaranteed that this is called for an ROS Thread before start
57  * is called (when running regularly inside Fawkes).
58  * @param rosnode ROS node handle
59  */
60 void
61 ROSAspect::init_ROSAspect(LockPtr<ros::NodeHandle> rosnode)
62 {
63  this->rosnode = rosnode;
64 }
65 
66 /** Finalize ROS aspect.
67  * This clears the ROS node handle.
68  */
69 void
70 ROSAspect::finalize_ROSAspect()
71 {
72  rosnode.clear();
73 }
74 
75 } // end namespace fawkes
fawkes::Aspect::add_aspect
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:49
fawkes::LockPtr< ros::NodeHandle >
fawkes::ROSAspect::rosnode
LockPtr< ros::NodeHandle > rosnode
Central ROS node handle.
Definition: ros.h:47
fawkes::ROSAspect::~ROSAspect
virtual ~ROSAspect()
Virtual empty destructor.
Definition: ros.cpp:50
fawkes
Fawkes library namespace.
fawkes::LockPtr::clear
void clear()
Set underlying instance to 0, decrementing reference count of existing instance appropriately.
Definition: lockptr.h:499
fawkes::ROSAspect::ROSAspect
ROSAspect()
Constructor.
Definition: ros.cpp:44