Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
node_thread.h
1
2
/***************************************************************************
3
* node_thread.h - ROS node handle providing thread
4
*
5
* Created: Thu May 05 18:35:12 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.
14
*
15
* This program is distributed in the hope that it will be useful,
16
* but WITHOUT ANY WARRANTY; without even the implied warranty of
17
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18
* GNU Library General Public License for more details.
19
*
20
* Read the full text in the LICENSE.GPL file in the doc directory.
21
*/
22
23
#ifndef __PLUGINS_ROS_NODE_THREAD_H_
24
#define __PLUGINS_ROS_NODE_THREAD_H_
25
26
#include <core/threading/thread.h>
27
#include <core/utils/lockptr.h>
28
#include <aspect/logging.h>
29
#include <aspect/configurable.h>
30
#include <aspect/clock.h>
31
#include <aspect/blocked_timing.h>
32
#include <aspect/aspect_provider.h>
33
#include <plugins/ros/aspect/ros_inifin.h>
34
#include <utils/time/time.h>
35
36
#include <sys/types.h>
37
38
namespace
ros {
39
class
NodeHandle;
40
}
41
42
class
ROSNodeThread
43
:
public
fawkes::Thread
,
44
public
fawkes::BlockedTimingAspect
,
45
public
fawkes::LoggingAspect
,
46
public
fawkes::ConfigurableAspect
,
47
public
fawkes::ClockAspect
,
48
public
fawkes::AspectProviderAspect
49
{
50
public
:
51
ROSNodeThread
();
52
virtual
~ROSNodeThread
();
53
54
virtual
void
init
();
55
virtual
void
loop
();
56
virtual
void
finalize
();
57
58
/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
59
protected
:
virtual
void
run
() {
Thread::run
(); }
60
61
private
:
62
fawkes::LockPtr<ros::NodeHandle>
__rosnode;
63
fawkes::ROSAspectIniFin
__ros_aspect_inifin;
64
65
};
66
67
#endif
src
plugins
ros
node_thread.h
Generated by
1.8.1.2