Fawkes API
Fawkes Development Version
robot_description_thread.h
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/***************************************************************************
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* robot_description_thread.h - ROS Robot Description Plugin
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*
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* Created: Fri May 16 15:29:17 2014
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* Copyright 2014 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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#ifndef _PLUGINS_ROS_ROBOT_DESCRIPTION_THREAD_H_
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#define _PLUGINS_ROS_ROBOT_DESCRIPTION_THREAD_H_
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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#include <plugins/ros/aspect/ros.h>
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#include <string>
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class
ROSRobotDescriptionThread
:
public
fawkes::Thread
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ROSAspect
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{
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public
:
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ROSRobotDescriptionThread
();
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virtual
~
ROSRobotDescriptionThread
();
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virtual
void
init
();
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virtual
void
finalize
();
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private
:
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std::string cfg_urdf_path_;
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std::string cfg_ros_param_;
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};
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#endif
ROSRobotDescriptionThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
robot_description_thread.cpp:73
fawkes::LoggingAspect
Thread aspect to log output.
Definition:
logging.h:33
fawkes::ROSAspect
Thread aspect to get access to a ROS node handle.
Definition:
ros.h:39
fawkes::Thread
Thread class encapsulation of pthreads.
Definition:
thread.h:46
ROSRobotDescriptionThread::init
virtual void init()
Initialize the thread.
Definition:
robot_description_thread.cpp:48
fawkes::ConfigurableAspect
Thread aspect to access configuration data.
Definition:
configurable.h:33
ROSRobotDescriptionThread
Thread to publish the robot description to ROS.
Definition:
robot_description_thread.h:36
src
plugins
ros
robot_description_thread.h
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