Fawkes API  Fawkes Development Version
pointcloud.cpp
1 
2 /***************************************************************************
3  * pcl.cpp - Fawkes PointCloudAspect initializer/finalizer
4  *
5  * Created: Mon Nov 07 13:37:38 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 <aspect/inifins/pointcloud.h>
25 #include <aspect/pointcloud.h>
26 #include <pcl_utils/utils.h>
27 
28 namespace fawkes {
29 
30 /** @class PointCloudAspectIniFin <aspect/inifins/pointcloud.h>
31  * Initializer/finalizer for the PointCloudAspect.
32  * @author Tim Niemueller
33  */
34 
35 /** Constructor.
36  * @param config configuration used to conditionally make PCL quiet.
37  */
39 : AspectIniFin("PointCloudAspect")
40 {
41  pcl_manager_ = new PointCloudManager();
42  pcl_utils::shutup_conditional(config);
43 }
44 
45 /** Destructor. */
47 {
48  delete pcl_manager_;
49 }
50 
51 void
53 {
54  PointCloudAspect *pcl_thread;
55  pcl_thread = dynamic_cast<PointCloudAspect *>(thread);
56  if (pcl_thread == NULL) {
57  throw CannotInitializeThreadException("Thread '%s' claims to have the "
58  "PointCloudAspect, but RTTI says it "
59  "has not. ",
60  thread->name());
61  }
62 
63  pcl_thread->init_PointCloudAspect(pcl_manager_);
64 }
65 
66 void
68 {
69 }
70 
71 } // end namespace fawkes
fawkes::PointCloudAspect::init_PointCloudAspect
void init_PointCloudAspect(PointCloudManager *pcl_manager)
Set URL manager.
Definition: pointcloud.cpp:54
fawkes::PointCloudManager
Point Cloud manager.
Definition: pointcloud_manager.h:47
fawkes::CannotInitializeThreadException
Thread cannot be initialized.
Definition: thread_initializer.h:34
fawkes::Thread::name
const char * name() const
Get name of thread.
Definition: thread.h:100
fawkes::PointCloudAspectIniFin::finalize
virtual void finalize(Thread *thread)
Finalize thread.
Definition: pointcloud.cpp:67
fawkes::Configuration
Interface for configuration handling.
Definition: config.h:65
fawkes::AspectIniFin
Aspect initializer/finalizer base class.
Definition: inifin.h:34
fawkes::PointCloudAspectIniFin::init
virtual void init(Thread *thread)
Initialize thread.
Definition: pointcloud.cpp:52
fawkes::PointCloudAspect
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
fawkes
Fawkes library namespace.
fawkes::PointCloudAspectIniFin::PointCloudAspectIniFin
PointCloudAspectIniFin(Configuration *config)
Constructor.
Definition: pointcloud.cpp:38
fawkes::PointCloudAspectIniFin::~PointCloudAspectIniFin
virtual ~PointCloudAspectIniFin()
Destructor.
Definition: pointcloud.cpp:46
fawkes::Thread
Thread class encapsulation of pthreads.
Definition: thread.h:46