Fawkes API  Fawkes Development Version
tf.cpp
1 
2 /***************************************************************************
3  * tf.cpp - Fawkes TransformAspect initializer/finalizer
4  *
5  * Created: Tue Oct 25 22:32:59 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/tf.h>
25 #include <aspect/tf.h>
26 
27 namespace fawkes {
28 
29 namespace tf {
30 class Transformer;
31 }
32 
33 /** @class TransformAspectIniFin <aspect/inifins/tf.h>
34  * Initializer/finalizer for the TransformAspect.
35  * @author Tim Niemueller
36  */
37 
38 /** Constructor.
39  * @param blackboard blackboard instance to pass to threads
40  * @param transformer system-wide shared transformer to pass to threads
41  */
43 : AspectIniFin("TransformAspect")
44 {
45  blackboard_ = blackboard;
46  transformer_ = transformer;
47 }
48 
49 void
51 {
52  TransformAspect *transform_thread;
53  transform_thread = dynamic_cast<TransformAspect *>(thread);
54  if (transform_thread == NULL) {
55  throw CannotInitializeThreadException("Thread '%s' claims to have the "
56  "TransformAspect, but RTTI says it "
57  "has not. ",
58  thread->name());
59  }
60 
61  transform_thread->init_TransformAspect(blackboard_, transformer_, thread->name());
62 }
63 
64 void
66 {
67  TransformAspect *transform_thread;
68  transform_thread = dynamic_cast<TransformAspect *>(thread);
69  if (transform_thread == NULL) {
70  throw CannotFinalizeThreadException("Thread '%s' claims to have the "
71  "TransformAspect, but RTTI says it "
72  "has not. ",
73  thread->name());
74  }
75 
76  transform_thread->finalize_TransformAspect();
77 }
78 
79 } // end namespace fawkes
Fawkes library namespace.
Thread class encapsulation of pthreads.
Definition: thread.h:45
Thread aspect to access the transform system.
Definition: tf.h:38
const char * name() const
Get name of thread.
Definition: thread.h:100
TransformAspectIniFin(BlackBoard *blackboard, tf::Transformer *transformer)
Constructor.
Definition: tf.cpp:42
Thread cannot be finalized.
void finalize_TransformAspect()
Finalize transform aspect.
Definition: tf.cpp:214
void init_TransformAspect(BlackBoard *blackboard, tf::Transformer *transformer, const char *thread_name)
Init transform aspect.
Definition: tf.cpp:101
virtual void init(Thread *thread)
Initialize thread.
Definition: tf.cpp:50
virtual void finalize(Thread *thread)
Finalize thread.
Definition: tf.cpp:65
The BlackBoard abstract class.
Definition: blackboard.h:45
Coordinate transforms between any two frames in a system.
Definition: transformer.h:64
Aspect initializer/finalizer base class.
Definition: inifin.h:33