WindupPolicy.hpp
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00034  *  Created on: 26.06.2013.
00035  *  Author: Dula Nad
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00037 #ifndef WINDUPPOLICY_HPP_
00038 #define WINDUPPOLICY_HPP_
00039 #include <ros/ros.h>
00040 
00041 namespace labust
00042 {
00043         namespace control
00044         {
00048                 template <class WindupType>
00049                 class WindupPolicy
00050                 {
00051                 public:
00052                         WindupPolicy()
00053                         {
00054                                 ros::NodeHandle nh;
00055                                 windupSub = nh.subscribe<WindupType>("windup", 1,
00056                                                 &WindupPolicy::onWindup,this);
00057                         }
00058 
00059                         void onWindup(const typename WindupType::ConstPtr& windup)
00060                         {
00061                                 boost::mutex::scoped_lock l(wnd_mux);
00062                                 this->_windup_var = *windup;
00063                         }
00064 
00065                         template <class Base>
00066                         inline void get_windup(Base* b)
00067                         {
00068                                 boost::mutex::scoped_lock l(wnd_mux);
00069                                 b->windup(_windup_var);
00070                         };
00071 
00072                 protected:
00073                         boost::mutex wnd_mux;
00074                         ros::Subscriber windupSub;
00075                         WindupType _windup_var;
00076                 };
00077         }
00078 }
00079 
00080 /* WINDUPPOLICY_HPP_ */
00081 #endif


labust_control
Author(s): Gyula Nagy
autogenerated on Fri Aug 28 2015 11:22:42