Fawkes API  Fawkes Development Version
gazebo.h
1 
2 /***************************************************************************
3  * gazebo.h - Gazebo aspect for Fawkes
4  *
5  * Created: Fri Aug 24 09:25:22 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 #ifndef _PLUGINS_GAZEBO_ASPECT_GAZEBO_H_
25 #define _PLUGINS_GAZEBO_ASPECT_GAZEBO_H_
26 
27 #include <aspect/aspect.h>
28 
29 // from Gazebo
30 #include <gazebo/transport/Node.hh>
31 
32 namespace fawkes {
33 
34 class GazeboAspectIniFin;
35 
36 class GazeboAspect : public virtual Aspect
37 {
38  friend GazeboAspectIniFin;
39 
40 public:
41  GazeboAspect();
42  virtual ~GazeboAspect();
43 
44 protected:
45  /// Gazebo Node for communication with a robot
46  gazebo::transport::NodePtr gazebonode;
47  /**
48  * Gazebo Node for communication with the world
49  * (e.g. for spawning visuals or robot independent information)
50  */
51  gazebo::transport::NodePtr gazebo_world_node;
52 
53 private:
54  void init_GazeboAspect(gazebo::transport::NodePtr gazebonode,
55  gazebo::transport::NodePtr gazebo_world_node);
56  void finalize_GazeboAspect();
57 };
58 
59 } // end namespace fawkes
60 
61 #endif
fawkes::GazeboAspect::GazeboAspect
GazeboAspect()
Constructor.
Definition: gazebo.cpp:53
fawkes::GazeboAspect::gazebonode
gazebo::transport::NodePtr gazebonode
Gazebo Node for communication with a robot.
Definition: gazebo.h:52
fawkes
fawkes::GazeboAspect::gazebo_world_node
gazebo::transport::NodePtr gazebo_world_node
Gazebo Node for communication with the world (e.g.
Definition: gazebo.h:57
fawkes::GazeboAspect::~GazeboAspect
virtual ~GazeboAspect()
Virtual empty destructor.
Definition: gazebo.cpp:59