services.cpp
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #include "services.h"
00030 
00031 namespace hector_pose_estimation {
00032 
00033 SystemService::SystemService(RTT::TaskContext *owner, const SystemPtr& system, const std::string& name)
00034   : RTT::Service(name.empty() ? system->getName() : name, owner)
00035 {
00036   system->parameters().registerParams(boost::bind(&registerParamAsProperty, _1, this->properties()));
00037 }
00038 
00039 SystemService::~SystemService()
00040 {}
00041 
00042 MeasurementService::MeasurementService(RTT::TaskContext *owner, const MeasurementPtr& measurement, const std::string& name)
00043   : RTT::Service(name.empty() ? measurement->getName() : name, owner)
00044 {
00045   measurement->parameters().registerParams(boost::bind(&registerParamAsProperty, _1, this->properties()));
00046 }
00047 
00048 MeasurementService::~MeasurementService()
00049 {}
00050 
00051 void registerParamAsProperty(ParameterPtr &parameter, RTT::PropertyBag *bag) {
00052   bag->removeProperty(bag->getProperty(parameter->key));
00053   if (parameter->hasType<std::string>()) bag->addProperty(parameter->key, parameter->as<std::string>());
00054   if (parameter->hasType<double>()) bag->addProperty(parameter->key, parameter->as<double>());
00055   if (parameter->hasType<int>()) bag->addProperty(parameter->key, parameter->as<int>());
00056   if (parameter->hasType<bool>()) bag->addProperty(parameter->key, parameter->as<bool>());
00057 }
00058 
00059 } // namespace hector_pose_estimation
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hector_pose_estimation_rtt
Author(s): Johannes Meyer
autogenerated on Sun Jun 2 2013 11:34:21