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 
30 namespace ros {
31 class NodeHandle;
32 }
33 
34 namespace fawkes {
35 
36 class ROSAspectIniFin;
37 
38 class ROSAspect : public virtual Aspect
39 {
40  friend ROSAspectIniFin;
41 
42 public:
43  ROSAspect();
44  virtual ~ROSAspect();
45 
46 protected:
48 
49 private:
50  void init_ROSAspect(LockPtr<ros::NodeHandle> rosnode);
51  void finalize_ROSAspect();
52 };
53 
54 } // end namespace fawkes
55 
56 #endif
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::ROSAspect
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
fawkes::Aspect
Fawkes aspect base class.
Definition: aspect.h:32
fawkes::ROSAspect::ROSAspect
ROSAspect()
Constructor.
Definition: ros.cpp:44
fawkes::ROSAspectIniFin
ROSAspect initializer/finalizer.
Definition: ros_inifin.h:33