ompl_console.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2011, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <ros/console.h>
00038 #include <ompl/util/Console.h>
00039 
00040 namespace ompl_ros_inteface
00041 {
00042 class OutputHandlerROS : public ompl::msg::OutputHandler
00043 {
00044 public:
00045   
00046   OutputHandlerROS(void) : OutputHandler()
00047   {
00048   }
00049   virtual void log(const std::string &text, ompl::msg::LogLevel level, const char *filename, int line)
00050   {
00051     switch (level)
00052     {
00053     case ompl::msg::LOG_INFO: 
00054       {
00055         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Info, std::string(ROSCONSOLE_NAME_PREFIX) + ".ompl");
00056         if (ROS_UNLIKELY(enabled))
00057         {
00058           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00059         }    
00060       }
00061       break;
00062     case ompl::msg::LOG_WARN:
00063       {
00064         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Warn, std::string(ROSCONSOLE_NAME_PREFIX) + ".ompl");
00065         if (ROS_UNLIKELY(enabled))
00066         {
00067           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00068         }    
00069       }
00070       break;
00071     case ompl::msg::LOG_ERROR:
00072       {
00073         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Error, std::string(ROSCONSOLE_NAME_PREFIX) + ".ompl");
00074         if (ROS_UNLIKELY(enabled))
00075         {
00076           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00077         }    
00078       }
00079       break;
00080     default:
00081       // debug
00082       {
00083         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Debug, std::string(ROSCONSOLE_NAME_PREFIX) + ".ompl");
00084         if (ROS_UNLIKELY(enabled))
00085         {
00086           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00087         }    
00088       }
00089       break;
00090     }
00091   }
00092   
00093 };
00094 
00095 struct RegisterOH
00096 {
00097   RegisterOH(void)
00098   {
00099     static OutputHandlerROS oh_ros;
00100     useOutputHandler(&oh_ros);
00101   }
00102 };
00103 
00104 static RegisterOH proxy;
00105 }


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:38:54