PluginGazebo.cpp

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#include <plugins/gazebo/PluginGazebo.h>


namespace beliefstate {
  namespace plugins {
    PLUGIN_CLASS::PLUGIN_CLASS() {
      this->addDependency("ros");
      this->setPluginVersion("0.1a");
    }
    
    PLUGIN_CLASS::~PLUGIN_CLASS() {
    }
    
    Result PLUGIN_CLASS::init(int argc, char** argv) {
      Result resInit = defaultResult();
      
      this->setOffersService("spawn_model", true);
      
      return resInit;
    }
    
    Result PLUGIN_CLASS::deinit() {
      return defaultResult();
    }
    
    Result PLUGIN_CLASS::cycle() {
      Result resCycle = defaultResult();
      this->deployCycleData(resCycle);
      
      return resCycle;
    }
    
    void PLUGIN_CLASS::consumeEvent(Event evEvent) {
      this->info("Consume event!");
    }
    
    Event PLUGIN_CLASS::consumeServiceEvent(ServiceEvent seServiceEvent) {
      Event evService = defaultEvent();
      
      this->info("Consume service event of type '" + seServiceEvent.strServiceName + "'!");
      
      return evService;
    }
  }
  
  extern "C" plugins::PLUGIN_CLASS* createInstance() {
    return new plugins::PLUGIN_CLASS();
  }
  
  extern "C" void destroyInstance(plugins::PLUGIN_CLASS* icDestroy) {
    delete icDestroy;
  }
}