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openrave_inifin.cpp
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/***************************************************************************
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* openrave_inifin.cpp - Fawkes OpenRaveAspect initializer/finalizer
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*
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* Created: Fri Feb 25 15:08:00 2011
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* Copyright 2011 Bahram Maleki-Fard
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#include <plugins/openrave/aspect/openrave_inifin.h>
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#include <plugins/openrave/aspect/openrave.h>
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#include <plugins/openrave/aspect/openrave_connector.h>
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#include <core/threading/thread_finalizer.h>
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namespace
fawkes {
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#if 0
/* just to make Emacs auto-indent happy */
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}
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#endif
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/** @class OpenRaveAspectIniFin <plugins/openrave/aspect/openrave_inifin.h>
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* OpenRaveAspect initializer/finalizer.
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* This initializer/finalizer will provide the OpenRaveConnector to threads with
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* the OpenRaveAspect.
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* @author Bahram Maleki-Fard
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*/
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/** Constructor.
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* @param openrave OpenRaveConnector to pass on to threads
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*/
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OpenRaveAspectIniFin::OpenRaveAspectIniFin(
OpenRaveConnector
*openrave)
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:
AspectIniFin
(
"OpenRaveAspect"
)
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{
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__openrave = openrave;
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}
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void
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OpenRaveAspectIniFin::init
(
Thread
*thread)
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{
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OpenRaveAspect
*or_thread;
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or_thread =
dynamic_cast<
OpenRaveAspect
*
>
(thread);
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if
(or_thread == NULL) {
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throw
CannotInitializeThreadException
(
"Thread '%s' claims to have the "
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"OpenRaveAspect, but RTTI says it "
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"has not. "
, thread->
name
());
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}
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or_thread->init_OpenRaveAspect(__openrave);
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}
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void
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OpenRaveAspectIniFin::finalize
(
Thread
*thread)
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{
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}
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}
// end namespace fawkes
src
plugins
openrave
aspect
openrave_inifin.cpp
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