Fawkes API  Fawkes Development Version
gazsim_depthcam_plugin.cpp
1 /***************************************************************************
2  * gazsim_depthcam_plugin.cpp - Plugin simulates a Depthcam in Gazebo and
3  * provides the point cloud
4  *
5  * Created: Fri Feb 19 20:57:59 2016
6  * Copyright 2016 Frederik Zwilling
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #include "gazsim_depthcam_thread.h"
23 
24 #include <core/plugin.h>
25 
26 using namespace fawkes;
27 
28 /** Plugin to simulate a depthcam in Gazebo
29  *
30  *
31  * @author Frederik Zwilling
32  */
34 {
35 public:
36  /** Constructor.
37  * @param config Fawkes configuration
38  */
39  explicit GazsimDepthcamPlugin(Configuration *config) : Plugin(config)
40  {
41  thread_list.push_back(new DepthcamSimThread());
42  }
43 };
44 
45 PLUGIN_DESCRIPTION("Simulation of a Depthcam in Gazebo")
46 EXPORT_PLUGIN(GazsimDepthcamPlugin)
DepthcamSimThread
Thread simulates a number of depthcams in Gazebo.
Definition: gazsim_depthcam_thread.h:51
GazsimDepthcamPlugin::GazsimDepthcamPlugin
GazsimDepthcamPlugin(Configuration *config)
Constructor.
Definition: gazsim_depthcam_plugin.cpp:39
fawkes::Configuration
Interface for configuration handling.
Definition: config.h:65
fawkes
Fawkes library namespace.
GazsimDepthcamPlugin
Plugin to simulate a depthcam in Gazebo.
Definition: gazsim_depthcam_plugin.cpp:34
fawkes::Plugin
Plugin interface class.
Definition: plugin.h:34