rgbdslam_v2: qtros.h Source File

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00001 /* This file is part of RGBDSLAM.
00002  * 
00003  * RGBDSLAM is free software: you can redistribute it and/or modify
00004  * it under the terms of the GNU General Public License as published by
00005  * the Free Software Foundation, either version 3 of the License, or
00006  * (at your option) any later version.
00007  * 
00008  * RGBDSLAM is distributed in the hope that it will be useful,
00009  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00010  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011  * GNU General Public License for more details.
00012  * 
00013  * You should have received a copy of the GNU General Public License
00014  * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.
00015  */
00016 
00017 
00019 
00025 #ifndef QT_ROS_H
00026 #define QT_ROS_H
00027 #include "ros/ros.h"
00028 #include <QThread>
00029 #include <QObject>
00030 
00031 class QtROS : public QThread {
00032   Q_OBJECT
00033 
00034   public:
00038     QtROS(int argc, char *argv[], const char* node_name);
00039     ros::NodeHandle getNodeHandle(){ return *n; }
00041     void run();
00042   public Q_SLOTS:
00044     void quitNow();
00045   Q_SIGNALS:
00047     void rosQuits();
00048   private:
00049     bool quitfromgui;
00050     ros::NodeHandle* n;
00051 };
00052 #endif