ompl_console.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <ros/console.h>
00038 #include <ompl/util/Console.h>
00039 
00040 namespace ompl_inteface
00041 {
00042 class OutputHandlerROS : public ompl::msg::OutputHandler
00043 {
00044 public:
00045 
00046   OutputHandlerROS() : OutputHandler()
00047   {
00048   }
00049 
00050   virtual void log(const std::string &text, ompl::msg::LogLevel level, const char *filename, int line)
00051   {
00052     switch (level)
00053     {
00054     case ompl::msg::LOG_INFO:
00055       {
00056         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Info, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
00057         if (ROS_UNLIKELY(enabled))
00058         {
00059           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00060         }
00061       }
00062       break;
00063     case ompl::msg::LOG_WARN:
00064       {
00065         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Warn, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
00066         if (ROS_UNLIKELY(enabled))
00067         {
00068           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00069         }
00070       }
00071       break;
00072     case ompl::msg::LOG_ERROR:
00073       {
00074         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Error, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
00075         if (ROS_UNLIKELY(enabled))
00076         {
00077           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00078         }
00079       }
00080       break;
00081     default:
00082       // debug
00083       {
00084         ROSCONSOLE_DEFINE_LOCATION(true, ::ros::console::levels::Debug, std::string(ROSCONSOLE_ROOT_LOGGER_NAME) + ".ompl");
00085         if (ROS_UNLIKELY(enabled))
00086         {
00087           ::ros::console::print(NULL, loc.logger_, loc.level_, filename, line, "", "%s", text.c_str());
00088         }
00089       }
00090       break;
00091     }
00092   }
00093 };
00094 
00095 struct RegisterOH
00096 {
00097   RegisterOH()
00098   {
00099     static OutputHandlerROS oh_ros;
00100     ompl::msg::useOutputHandler(&oh_ros);
00101     ompl::msg::setLogLevel(ompl::msg::LOG_DEBUG);
00102   }
00103 };
00104 
00105 static RegisterOH proxy;
00106 }


ompl
Author(s): Ioan Sucan
autogenerated on Wed Sep 16 2015 04:42:27