Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * worldmodel_plugin.cpp - Fawkes WorldModel Plugin 00004 * 00005 * Created: Fri Jun 29 11:47:53 2007 (on flight to RoboCup 2007, Atlanta) 00006 * Copyright 2006 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #include <plugins/worldmodel/worldmodel_plugin.h> 00024 #include <plugins/worldmodel/wm_thread.h> 00025 #include <plugins/worldmodel/net_thread.h> 00026 00027 using namespace fawkes; 00028 00029 /** @class WorldModelPlugin plugins/worldmodel/worldmodel_plugin.h 00030 * Simple worldmodel plugin. 00031 * This plugin facilitates the Fawkes worldmodel, which agglomerates data produced 00032 * by low level Fawkes plugins and provides a consistent view of the world to 00033 * modules on higher levels. 00034 * 00035 * @author Tim Niemueller 00036 */ 00037 00038 /** Constructor. 00039 * @param config Fawkes configuration 00040 */ 00041 WorldModelPlugin::WorldModelPlugin(Configuration *config) 00042 : Plugin(config) 00043 { 00044 WorldModelNetworkThread* net_thread = new WorldModelNetworkThread(); 00045 thread_list.push_back(new WorldModelThread(net_thread)); 00046 thread_list.push_back(net_thread); 00047 } 00048 00049 PLUGIN_DESCRIPTION("Aggregates data to provide central world model") 00050 EXPORT_PLUGIN(WorldModelPlugin)