Fawkes API
Fawkes Development Version
openrave_plugin.cpp
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/***************************************************************************
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* openrave_plugin.cpp - Fawkes OpenRAVE Plugin
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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.
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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 file in the doc directory.
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*/
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#include "openrave_plugin.h"
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#include "message_handler_thread.h"
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#include "openrave_thread.h"
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using namespace
fawkes
;
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/** @class OpenRavePlugin <plugins/openrave/openrave_plugin.h>
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* OpenRAVE Connector plugin.
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* This plugin provides access to OpenRAVE for other Fawkes plugins.
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* It builds up an environment, manages objects and robots in that environment
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* and handles ik solving and path-planning.
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*
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* @author Bahram Maleki-Fard
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*/
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/** Constructor.
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* @param config Fawkes configuration
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*/
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OpenRavePlugin::OpenRavePlugin
(
Configuration
*config) :
Plugin
(config)
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{
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OpenRaveThread
*or_thread =
new
OpenRaveThread
();
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thread_list
.
push_back
(or_thread);
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thread_list
.
push_back
(
new
OpenRaveMessageHandlerThread
(or_thread));
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}
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PLUGIN_DESCRIPTION(
"OpenRAVE Connector Plugin"
)
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EXPORT_PLUGIN(
OpenRavePlugin
)
OpenRavePlugin::OpenRavePlugin
OpenRavePlugin(fawkes::Configuration *config)
Constructor.
Definition:
openrave_plugin.cpp:42
fawkes::Plugin::thread_list
ThreadList thread_list
Thread list member.
Definition:
plugin.h:57
OpenRaveMessageHandlerThread
Definition:
message_handler_thread.h:37
fawkes::ThreadList::push_back
void push_back(Thread *thread)
Add thread to the end.
Definition:
thread_list.cpp:777
OpenRaveThread
Definition:
openrave_thread.h:35
fawkes::Configuration
Definition:
config.h:68
fawkes
OpenRavePlugin
Definition:
openrave_plugin.h:27
fawkes::Plugin
Definition:
plugin.h:37
src
plugins
openrave
openrave_plugin.cpp
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