plus.cpp
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
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  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <pluginlib/class_list_macros.h>
00031 #include <nodelet/nodelet.h>
00032 #include <ros/ros.h>
00033 #include <std_msgs/Float64.h>
00034 #include <stdio.h>
00035 
00036 
00037 #include <math.h> //fabs
00038 
00039 namespace nodelet_tutorial_math
00040 {
00041 
00042 class Plus : public nodelet::Nodelet
00043 {
00044 public:
00045   Plus()
00046   : value_(0)
00047   {}
00048 
00049 private:
00050   virtual void onInit()
00051   {
00052     ros::NodeHandle& private_nh = getPrivateNodeHandle();
00053     private_nh.getParam("value", value_);
00054     pub = private_nh.advertise<std_msgs::Float64>("out", 10);
00055     sub = private_nh.subscribe("in", 10, &Plus::callback, this);
00056   }
00057 
00058   void callback(const std_msgs::Float64::ConstPtr& input)
00059   {
00060     std_msgs::Float64Ptr output(new std_msgs::Float64());
00061     output->data = input->data + value_;
00062     NODELET_DEBUG("Adding %f to get %f", value_, output->data);
00063     pub.publish(output);
00064   }
00065 
00066   ros::Publisher pub;
00067   ros::Subscriber sub;
00068   double value_;
00069 };
00070 
00071 PLUGINLIB_DECLARE_CLASS(nodelet_tutorial_math, Plus, nodelet_tutorial_math::Plus, nodelet::Nodelet);
00072 }


nodelet_tutorial_math
Author(s): Tully Foote
autogenerated on Thu Jan 2 2014 11:10:04