ros_publisher.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 <rosmatlab/mex.h>
00030 #include <rosmatlab/ros.h>
00031 #include <rosmatlab/options.h>
00032 
00033 using namespace rosmatlab;
00034 
00035 void mexFunction( int nlhs, mxArray *plhs[],
00036                   int nrhs, const mxArray *prhs[] )
00037 {
00038   static MexMethodMap<Publisher> methods;
00039   if (!methods.initialize()) {
00040     methods
00041       .add("advertise", &Publisher::advertise)
00042       .add("publish", &Publisher::publish)
00043       .add("getTopic", &Publisher::getTopic)
00044       .add("getDataType", &Publisher::getDataType)
00045       .add("getMD5Sum", &Publisher::getMD5Sum)
00046       .add("getNumSubscribers", &Publisher::getNumSubscribers)
00047       .add("isLatched", &Publisher::isLatched)
00048       .throwOnUnknown();
00049   }
00050 
00051   try {
00052     /* Initialize ROS node */
00053     init();
00054 
00055     /* Publisher *publisher = */
00056     mexClassHelper<Publisher>(nlhs, plhs, nrhs, prhs, methods);
00057 
00058   } catch(Exception &e) {
00059     mexErrMsgTxt(e.what());
00060   }
00061 }


rosmatlab
Author(s): Johannes Meyer
autogenerated on Fri Jul 25 2014 06:08:36