Fawkes API  Fawkes Development Version
gazebo.cpp
1 
2 /***************************************************************************
3  * gazebo.cpp - Gazebo aspect for Fawkes
4  *
5  * Created: Fri Aug 24 09:24:31 2012
6  * Author Bastian Klingen, Frederik Zwilling
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/gazebo/aspect/gazebo.h>
25 
26 #include <stdio.h>
27 
28 namespace fawkes {
29 
30 /** @class GazeboAspect <plugins/gazebo/aspect/gazebo.h>
31  * Thread aspect to get access to a Gazebo node handle.
32  * Give this aspect to your thread to interact with the central Gazebo
33  * node handle.
34  * You can also control the simulation by sending messages
35  * via the provided publishers
36  *
37  * @ingroup Aspects
38  * @author Bastian Klingen, Frederik Zwilling
39  */
40 
41 /** @var fawkes:LockPtr<gazebo::NodeHandle> GazeboAspect::gazebonode
42  * Central Gazebo node handle. Make sure you use proper locking in your
43  * application when using the class, or chaos and havoc will come upon you.
44  */
45 
46 /** Constructor. */
48 {
49  add_aspect("GazeboAspect");
50 }
51 
52 /** Virtual empty destructor. */
54 {
55 }
56 
57 /** Init Gazebo aspect.
58  * This set the Gazebo node handle.
59  * It is guaranteed that this is called for an Gazebo Thread before start
60  * is called (when running regularly inside Fawkes).
61  * @param gazebonode Gazebo node handle
62  */
63 void
64 GazeboAspect::init_GazeboAspect(gazebo::transport::NodePtr gazebonode,
65  gazebo::transport::NodePtr gazebo_world_node)
66 {
67  this->gazebonode = gazebonode;
68  this->gazebo_world_node = gazebo_world_node;
69 }
70 
71 /** Finalize Gazebo aspect.
72  * This clears the Gazebo node handle.
73  */
74 void
75 GazeboAspect::finalize_GazeboAspect()
76 {
77  gazebonode.reset();
78 }
79 
80 } // end namespace fawkes
fawkes::Aspect::add_aspect
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:49
fawkes::GazeboAspect::GazeboAspect
GazeboAspect()
Constructor.
Definition: gazebo.cpp:47
fawkes::GazeboAspect::gazebonode
gazebo::transport::NodePtr gazebonode
Gazebo Node for communication with a robot.
Definition: gazebo.h:46
fawkes
Fawkes library namespace.
fawkes::GazeboAspect::gazebo_world_node
gazebo::transport::NodePtr gazebo_world_node
Gazebo Node for communication with the world (e.g.
Definition: gazebo.h:51
fawkes::GazeboAspect::~GazeboAspect
virtual ~GazeboAspect()
Virtual empty destructor.
Definition: gazebo.cpp:53